adhoc

completed
2026-09-22T20:40:29.980760+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
403.7 s
total steps
292
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row on the table; the right (pink) bowl is visible in the right wrist camera slightly left of the jaw column. Moving the right arm out and slightly left to hover over that pink bowl for a rim grasp.
move_to
right_x0.3500right_y0.0400right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3782, -0.0223, -0.0257, 0.9994, -0.0181, 0.7933, 0.6025, -0.3794, -0.0128, -0.033, 0.9992] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2946 right_y=0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.3761, -1.5385, 10.0855, 1.8242, -0.022, 0.1099, -0.0757, -0.7179, -1.4427, 10.2085, 1.9023, -0.0562, 0.1685, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.04, "right_z": 0.16, "right_gripper": 1}, "note": "Three bowls sit in a row on the table; the right (pink) bowl is visible in the right wrist camera slightly left of the jaw column. Moving the right arm out and slightly left to hover over that pink bowl for a rim grasp."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent notePink bowl is nearly on the jaw column but sits above the jaws in the wrist view, so it is still a few cm further out. Advancing 5 cm radially to hover over its centre before picking a rim grasp point.
move_to
right_x0.3800right_y0.0550right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3832, -0.0227, -0.0261, 0.9993, 0.1699, 1.0821, 0.6117, -0.2062, 0.1062, 0.0402, 0.9992] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1791 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9993 right_x=0.3311 right_y=0.0415 right_z=0.1338 right_yaw=0.0478 right_pitch=-0.1021 right_roll=-0.0153 right_gripper=0.9992 state[joint_eff]: [-0.0752, -1.6889, 6.8308, 1.7509, -0.0757, -0.0611, -0.022, 0.1436, -3.8496, 9.9761, 1.8339, 0.2125, 0.1978, -0.0952] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.055, "right_z": 0.14}, "note": "Pink bowl is nearly on the jaw column but sits above the jaws in the wrist view, so it is still a few cm further out. Advancing 5 cm radially to hover over its centre before picking a rim grasp point."})
tool
executing move_to over 4 steps (0.4s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe pink bowl now fills the right wrist view, centred just left of the jaw column. Shifting to its right-hand rim (about 6.5 cm to the arm's right of centre) so the jaws can straddle the rim wall.
move_to
right_x0.3850right_y-0.0050right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3862, -0.0227, -0.0261, 0.9993, 0.1883, 1.2976, 0.7216, -0.1806, 0.1188, 0.0486, 0.9991] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9993 right_x=0.3623 right_y=0.0514 right_z=0.1147 right_yaw=0.0494 right_pitch=-0.1803 right_roll=-0.0277 right_gripper=0.9991 state[joint_eff]: [-0.0615, -1.5521, 7.0496, 1.7363, -0.0806, -0.0757, -0.0122, 0.2256, -5.6, 9.6615, 1.9414, 0.0708, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": -0.005, "right_z": 0.1}, "note": "The pink bowl now fills the right wrist view, centred just left of the jaw column. Shifting to its right-hand rim (about 6.5 cm to the arm's right of centre) so the jaws can straddle the rim wall."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe last lateral command was clamped and the arm hardly moved, so I am stepping only ~3 cm to the arm's right toward the pink bowl's right rim.
move_to
right_x0.3850right_y0.0200right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.3197, 7.1726, 1.7265, -0.0806, -0.0659, -0.0122, 0.1162, -5.5863, 9.4701, 1.8828, 0.0708, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.02, "right_z": 0.1}, "note": "The last lateral command was clamped and the arm hardly moved, so I am stepping only ~3 cm to the arm's right toward the pink bowl's right rim."})
tool
executing move_to over 3 steps (0.3s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe right arm has stopped tracking entirely (possibly touching the bowl or at an awkward IK pose), so I am lifting straight up 8 cm to free it before repositioning.
move_to
right_x0.3600right_y0.0500right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0223, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991 state[joint_eff]: [-0.0205, -1.2923, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122, -0.0205, -5.6, 9.4701, 1.8828, 0.0269, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.05, "right_z": 0.2}, "note": "The right arm has stopped tracking entirely (possibly touching the bowl or at an awkward IK pose), so I am lifting straight up 8 cm to free it before repositioning."})
tool
executing move_to over 6 steps (0.6s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteLift succeeded; the pink bowl is now centred on the jaw column in the right wrist view. Moving 6 cm to the arm's right at safe height so the jaws sit over the bowl's right-hand rim.
move_to
right_x0.4000right_y-0.0100right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, 0.1871, 1.235, 0.981, -0.4431, 0.1146, 0.0414, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3702 right_y=0.0532 right_z=0.2002 right_yaw=0.0569 right_pitch=-0.1218 right_roll=-0.0224 right_gripper=0.9991 state[joint_eff]: [0.0068, -1.1282, 7.1726, 1.7558, -0.0855, -0.0806, -0.0122, -0.4171, -4.2051, 7.9111, 1.3993, 0.0073, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": -0.01, "right_z": 0.2}, "note": "Lift succeeded; the pink bowl is now centred on the jaw column in the right wrist view. Moving 6 cm to the arm's right at safe height so the jaws sit over the bowl's right-hand rim."})
tool
executing move_to over 6 steps (0.6s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe jaw column is now over the right edge of the pink bowl's rim. Descending to 4 cm so the open jaws straddle the rim wall (one finger inside, one outside).
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, -0.054, 1.3258, 1.0069, -0.4606, -0.0441, -0.1032, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3829 right_y=-0.0093 right_z=0.1751 right_yaw=0.0302 right_pitch=-0.2088 right_roll=-0.0248 right_gripper=0.9991 state[joint_eff]: [-0.0068, -1.1419, 7.0769, 1.7363, -0.0757, -0.0611, -0.0122, -0.2803, -4.8342, 10.5778, 2.0098, -0.1978, 0.0317, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04}, "note": "The jaw column is now over the right edge of the pink bowl's rim. Descending to 4 cm so the open jaws straddle the rim wall (one finger inside, one outside)."})
tool
executing move_to over 9 steps (0.9s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteAt 3 cm height the bowl's right rim edge sits ~2 cm to the left of the jaw column, so I am nudging left 2 cm to put the rim wall between the jaws.
move_to
right_y0.0120right_x0.3750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3893, -0.0223, -0.0261, 0.9993, -0.0544, 1.5372, 0.6201, 0.0608, -0.0605, -0.1181, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1767 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9993 right_x=0.3695 right_y=-0.0058 right_z=0.0319 right_yaw=0.0542 right_pitch=-0.2842 right_roll=-0.0154 right_gripper=0.9991 state[joint_eff]: [-0.0068, -1.306, 7.0222, 1.7509, -0.0708, -0.0562, -0.0122, -0.0342, -5.9966, 5.9692, 1.8144, 0.1197, 0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.012, "right_x": 0.375}, "note": "At 3 cm height the bowl's right rim edge sits ~2 cm to the left of the jaw column, so I am nudging left 2 cm to put the rim wall between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe pink bowl's rim now lies between the open jaws in the wrist view; closing to grip the rim wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0116, 1.5562, 0.6132, 0.1051, -0.038, -0.0925, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3737 right_y=0.0059 right_z=0.0298 right_yaw=0.0624 right_pitch=-0.2672 right_roll=-0.0169 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.7411, -0.0806, -0.0073, -0.0122, 0.1573, -6.0103, 8.0479, 1.3846, 0.0806, 0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pink bowl's rim now lies between the open jaws in the wrist view; closing to grip the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteGripper closed to 0.04, consistent with a thin rim in the jaws. Lifting 12 cm to check in the overhead view whether the pink bowl came with it.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.5494, 0.6132, 0.1101, -0.0582, -0.0906, 0.0404] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3751 right_y=0.0089 right_z=0.0332 right_yaw=0.0772 right_pitch=-0.2542 right_roll=-0.0012 right_gripper=0.0404 state[joint_eff]: [-0.1573, -1.1966, 7.2, 1.6923, -0.0659, -0.0659, -0.0122, -0.0068, -5.2171, 6.0239, 1.1111, 0.2662, -0.0122, 1.0476] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "Gripper closed to 0.04, consistent with a thin rim in the jaws. Lifting 12 cm to check in the overhead view whether the pink bowl came with it."})
tool
executing move_to over 8 steps (0.8s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe pink bowl is clearly lifted and tilted in the gripper in the overhead view. Carrying it left toward the middle (white) bowl at a safe height.
move_to
right_z0.2200right_y0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.3632, 0.8902, -0.384, -0.0647, -0.102, 0.041] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3725 right_y=0.0101 right_z=0.126 right_yaw=0.09 right_pitch=-0.2845 right_roll=-0.001 right_gripper=0.041 state[joint_eff]: [-0.0479, -1.2103, 7.0222, 1.6923, -0.0708, -0.0562, -0.0171, -0.1846, -7.0085, 9.9214, 1.536, 0.022, 0.0513, 0.9402] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_y": 0.2}, "note": "The pink bowl is clearly lifted and tilted in the gripper in the overhead view. Carrying it left toward the middle (white) bowl at a safe height."})
tool
executing move_to over 16 steps (1.6s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe held pink bowl now hovers roughly over the middle blue bowl. Lowering it partway to judge alignment before setting it down inside.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.6151, 1.5932, 1.4403, -0.807, 0.3073, 0.3492, 0.0423] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3669 right_y=0.1982 right_z=0.2027 right_yaw=0.1321 right_pitch=-0.3262 right_roll=-0.0213 right_gripper=0.0423 state[joint_eff]: [-0.0752, -1.3333, 7.2, 1.7118, -0.0904, -0.0611, -0.0122, 0.1573, -7.665, 9.265, 1.3993, 0.3443, 0.1636, 0.9402] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "The held pink bowl now hovers roughly over the middle blue bowl. Lowering it partway to judge alignment before setting it down inside."})
tool
executing move_to over 5 steps (0.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteIn the wrist view the blue bowl sits a bit beyond and to the right of the held pink bowl, so I am advancing ~3 cm radially and 1 cm right to line them up before lowering.
move_to
right_x0.3850right_y0.1780
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.617, 1.6028, 1.1759, -0.6174, 0.3046, 0.3473, 0.0451] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3517 right_y=0.1889 right_z=0.1229 right_yaw=0.1222 right_pitch=-0.4017 right_roll=-0.0627 right_gripper=0.0451 state[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.7021, -0.0708, -0.0415, -0.0122, -0.2803, -6.8171, 7.159, 1.5507, 0.1636, -0.022, 0.7497] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.178}, "note": "In the wrist view the blue bowl sits a bit beyond and to the right of the held pink bowl, so I am advancing ~3 cm radially and 1 cm right to line them up before lowering."})
tool
executing move_to over 3 steps (0.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteMoving right shifted the blue bowl further left in the wrist view, so it is actually to the arm's left of the held bowl; stepping 3.5 cm back to the left and 1.5 cm out to centre the pink bowl over it.
move_to
right_y0.2100right_x0.3900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.548, 1.6711, 1.2121, -0.5972, 0.2726, 0.2932, 0.0485] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3736 right_y=0.1765 right_z=0.111 right_yaw=0.1095 right_pitch=-0.4269 right_roll=-0.0742 right_gripper=0.0485 state[joint_eff]: [-0.0752, -1.3197, 7.159, 1.7021, -0.0659, -0.0708, -0.0122, -0.1709, -8.1162, 9.8256, 1.199, 0.0415, -0.0659, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.21, "right_x": 0.39}, "note": "Moving right shifted the blue bowl further left in the wrist view, so it is actually to the arm's left of the held bowl; stepping 3.5 cm back to the left and 1.5 cm out to centre the pink bowl over it."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteLateral alignment looks close; the blue bowl still appears further out (higher in the wrist frame) than the held pink bowl, so advancing ~5 cm radially.
move_to
right_x0.4300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5945, 1.7809, 1.3148, -0.6331, 0.2783, 0.3065, 0.0509] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3813 right_y=0.2035 right_z=0.1001 right_yaw=0.1343 right_pitch=-0.4629 right_roll=-0.0921 right_gripper=0.0509 state[joint_eff]: [-0.0205, -1.2923, 7.1043, 1.7314, -0.0806, -0.0464, -0.0122, -0.3077, -9.5248, 8.7316, 1.0232, 0.315, 0.1832, 0.5104] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43}, "note": "Lateral alignment looks close; the blue bowl still appears further out (higher in the wrist frame) than the held pink bowl, so advancing ~5 cm radially."})
tool
executing move_to over 4 steps (0.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe blue bowl has gone out of the wrist view, suggesting the held pink bowl is now over it. Lowering to set the pink bowl down into/onto it.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5312, 1.9194, 1.4601, -0.6662, 0.2493, 0.2558, 0.0539] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4171 right_y=0.1987 right_z=0.0877 right_yaw=0.1211 right_pitch=-0.5006 right_roll=-0.1065 right_gripper=0.0539 state[joint_eff]: [-0.0342, -1.3744, 7.0085, 1.7265, -0.0855, -0.0708, -0.0122, -0.294, -10.2769, 8.9368, 1.0867, 0.0317, 0.0464, 0.3004] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05}, "note": "The blue bowl has gone out of the wrist view, suggesting the held pink bowl is now over it. Lowering to set the pink bowl down into/onto it."})
tool
executing move_to over 3 steps (0.3s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent notePink bowl appears set down over the middle purple bowl; opening the jaws to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0223, -0.0261, 0.9993, 0.5282, 1.9438, 1.3758, -0.5781, 0.2466, 0.2478, 0.0571] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9993 right_x=0.4124 right_y=0.1948 right_z=0.0568 right_yaw=0.1207 right_pitch=-0.521 right_roll=-0.1177 right_gripper=0.0571 state[joint_eff]: [-0.0342, -1.2513, 7.1726, 1.7411, -0.0513, -0.0562, -0.0122, 0.1983, -8.8274, 6.4068, 1.116, 0.1099, 0.0171, 0.359] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pink bowl appears set down over the middle purple bowl; opening the jaws to release it."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteBowl released; retracting the right arm to home-ish pose so the overhead camera can show whether the pink bowl nested on the middle bowl.
move_to
right_x0.3000right_y0.0000right_z0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5282, 1.9472, 1.3651, -0.5797, 0.2459, 0.2409, 0.9954] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4091 right_y=0.1931 right_z=0.0516 right_yaw=0.1221 right_pitch=-0.5361 right_roll=-0.1278 right_gripper=0.9954 state[joint_eff]: [-0.0889, -1.1282, 7.0496, 1.7314, -0.0855, -0.0366, -0.0122, -0.0615, -10.5231, 6.9812, 0.9939, 0.0952, 0.0171, -0.2173] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.25}, "note": "Bowl released; retracting the right arm to home-ish pose so the overhead camera can show whether the pink bowl nested on the middle bowl."})
tool
executing move_to over 17 steps (1.7s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent notePink bowl is now nested on the middle bowl; only the white bowl remains separate. Moving the left arm out and right toward the white bowl, which sits right of the jaw column in its wrist view.
move_to
left_x0.3700left_y-0.0500left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.0151, 1.3479, 1.457, -1.2232, 0.046, -0.1986, 0.9964] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9993 right_x=0.3074 right_y=0.0001 right_z=0.2347 right_yaw=0.0826 right_pitch=-0.5522 right_roll=-0.1359 right_gripper=0.9964 state[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.707, -0.0708, -0.0513, -0.0122, -0.1162, -5.7778, 8.1846, 1.1062, -0.1001, 0.0073, 0.0904] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.05, "left_z": 0.2}, "note": "Pink bowl is now nested on the middle bowl; only the white bowl remains separate. Moving the left arm out and right toward the white bowl, which sits right of the jaw column in its wrist view."})
tool
executing move_to over 6 steps (0.6s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe white bowl sits centred about 4 cm to the arm's right in the left wrist view; positioning the jaws over its near-left rim (arm's +y side) at a safe height.
move_to
left_x0.3900left_y-0.0300left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.231, 1.1645, 0.8207, -0.3309, -0.1734, -0.1371, 0.9993, 0.0147, 1.3525, 1.4574, -1.2491, 0.0429, -0.2165, 0.9965] state[eef_state]: left_x=0.3556 left_y=-0.0486 left_z=0.1761 left_yaw=-0.0234 left_pitch=-0.0947 left_roll=0.0084 left_gripper=0.9993 right_x=0.3022 right_y=0.0004 right_z=0.2307 right_yaw=0.098 right_pitch=-0.5834 right_roll=-0.1389 right_gripper=0.9965 state[joint_eff]: [-0.3761, -4.506, 9.0051, 1.7607, -0.1343, 0.0317, -0.0122, -0.1299, -5.0256, 5.9692, 1.2869, 0.0415, 0.1538, 0.0024] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.03, "left_z": 0.18}, "note": "The white bowl sits centred about 4 cm to the arm's right in the left wrist view; positioning the jaws over its near-left rim (arm's +y side) at a safe height."})
tool
executing move_to over 3 steps (0.3s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe white bowl's left rim edge now lines up with the jaw column in the left wrist view; descending to 4 cm so the jaws straddle the rim.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1375, 1.28, 0.8696, -0.3115, -0.1356, -0.1127, 0.9993, 0.0151, 1.3533, 1.4574, -1.2537, 0.0429, -0.2142, 0.9965] state[eef_state]: left_x=0.3772 left_y=-0.0245 left_z=0.1603 left_yaw=0.026 left_pitch=-0.146 left_roll=0.0122 left_gripper=0.9993 right_x=0.3012 right_y=0.0005 right_z=0.23 right_yaw=0.0972 right_pitch=-0.5886 right_roll=-0.1372 right_gripper=0.9965 state[joint_eff]: [-1.0598, -5.9829, 10.4684, 1.7998, 0.1148, 0.188, -0.0122, -0.0615, -4.1915, 5.9556, 1.0476, -0.0024, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04}, "note": "The white bowl's left rim edge now lines up with the jaw column in the left wrist view; descending to 4 cm so the jaws straddle the rim."})
tool
executing move_to over 8 steps (0.8s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe left arm ignored the large descent command, so I am stepping down in smaller increments toward the rim grasp height.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0151, 1.354, 1.4574, -1.2587, 0.0429, -0.2211, 0.9965] state[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3002 right_y=0.0005 right_z=0.2293 right_yaw=0.102 right_pitch=-0.5948 right_roll=-0.14 right_gripper=0.9965 state[joint_eff]: [-0.4034, -5.9556, 9.9077, 1.7998, -0.0171, 0.149, -0.0171, -0.1026, -4.5744, 5.9556, 1.1111, -0.0317, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.11}, "note": "The left arm ignored the large descent command, so I am stepping down in smaller increments toward the rim grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe left arm is stalled at z=0.156 and won't descend; backing off and up to reset the pose before re-approaching the white bowl.
move_to
left_x0.3400left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0147, 1.354, 1.4574, -1.2594, 0.0429, -0.2211, 0.9965] state[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.2293 right_yaw=0.1017 right_pitch=-0.5956 right_roll=-0.1399 right_gripper=0.9965 state[joint_eff]: [-0.294, -5.9556, 9.853, 1.7998, -0.0171, 0.1343, -0.0122, -0.1709, -4.6974, 6.1197, 1.0427, -0.022, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_z": 0.22}, "note": "The left arm is stalled at z=0.156 and won't descend; backing off and up to reset the pose before re-approaching the white bowl."})
tool
executing move_to over 5 steps (0.5s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteArm is free again; descending first at the retracted radius, then I will move forward onto the bowl rim.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1444, 1.1538, 0.9852, -0.5591, -0.1062, -0.1059, 0.9993, 0.0147, 1.3548, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3478 left_y=-0.028 left_z=0.2081 left_yaw=-0.0093 left_pitch=-0.1546 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.229 right_yaw=0.102 right_pitch=-0.5971 right_roll=-0.1399 right_gripper=0.9965 state[joint_eff]: [-0.5949, -4.3692, 9.1145, 1.5214, -0.2173, -0.0904, -0.0171, -0.0889, -4.7795, 6.147, 1.0183, -0.0024, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Arm is free again; descending first at the retracted radius, then I will move forward onto the bowl rim."})
tool
executing move_to over 9 steps (0.9s)
step 153
top_cam
camera top_cam step 153
assistant
agent noteThe white bowl's left rim edge is just at the jaw column; nudging 2 cm forward and down to 4 cm so the jaws straddle the rim.
move_to
left_z0.0400left_x0.3550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.144, 1.2694, 0.5495, -0.0868, -0.1055, -0.1051, 0.9993, 0.0151, 1.3548, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3352 left_y=-0.0262 left_z=0.0704 left_yaw=-0.0079 left_pitch=-0.2329 left_roll=0.0097 left_gripper=0.9993 right_x=0.2999 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5975 right_roll=-0.1399 right_gripper=0.9965 state[joint_eff]: [-0.1709, -4.4239, 6.5846, 2.0098, -0.0659, -0.0464, -0.0171, -0.1573, -4.5197, 5.9556, 1.0379, -0.0073, -0.0659, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_x": 0.355}, "note": "The white bowl's left rim edge is just at the jaw column; nudging 2 cm forward and down to 4 cm so the jaws straddle the rim."})
tool
executing move_to over 2 steps (0.2s)
step 155
assistant
agent noteRim appears to lie between the jaws (inner jaw inside the bowl); closing to grip the white bowl's rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1371, 1.3735, 0.5358, 0.0532, -0.104, -0.1047, 0.9993, 0.0151, 1.3544, 1.4574, -1.2617, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3505 left_y=-0.0262 left_z=0.0555 left_yaw=-0.0033 left_pitch=-0.2111 left_roll=0.0058 left_gripper=0.9993 right_x=0.2996 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5982 right_roll=-0.1398 right_gripper=0.9965 state[joint_eff]: [0.3761, -4.7385, 6.3658, 1.2283, -0.022, 0.0562, -0.0171, -0.1299, -4.4239, 6.065, 1.0525, -0.0171, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Rim appears to lie between the jaws (inner jaw inside the bowl); closing to grip the white bowl's rim."})
tool
executing move_to over 10 steps (1.0s)
step 165
assistant
agent noteGripper closed to 0.009 — empty, the jaws missed the rim. Reopening and shifting 2 cm toward the bowl so the rim falls between the jaws.
move_to
left_gripper1.0000left_y-0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1364, 1.3804, 0.5297, 0.0425, -0.1051, -0.1051, 0.0094, 0.0151, 1.3579, 1.4574, -1.261, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3463 left_y=-0.0252 left_z=0.0491 left_yaw=-0.0006 left_pitch=-0.2345 left_roll=0.0096 left_gripper=0.0094 right_x=0.3001 right_y=0.0005 right_z=0.228 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965 state[joint_eff]: [-0.1162, -5.4632, 6.4752, 1.6728, -0.0269, 0.0073, 0.6276, -0.0342, -4.9162, 5.9556, 1.0134, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_y": -0.045}, "note": "Gripper closed to 0.009 \u2014 empty, the jaws missed the rim. Reopening and shifting 2 cm toward the bowl so the rim falls between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 175
assistant
agent noteAfter shifting 2 cm toward the bowl the rim now crosses the jaw column; closing again on the white bowl's rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2165, 1.3922, 0.5297, 0.0307, -0.1555, -0.1638, 0.9951, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3415 left_y=-0.0434 left_z=0.0441 left_yaw=-0.0038 left_pitch=-0.2507 left_roll=0.0095 left_gripper=0.9951 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965 state[joint_eff]: [-0.7179, -4.3145, 6.9538, 1.4969, -0.1538, -0.0024, -0.1538, -0.0889, -4.8068, 5.8872, 1.0574, -0.0024, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "After shifting 2 cm toward the bowl the rim now crosses the jaw column; closing again on the white bowl's rim."})
tool
executing move_to over 10 steps (1.0s)
step 185
assistant
agent noteClosed empty again — the rim is still to the arm's right of the jaws. Reopening and shifting another 2.5 cm toward the bowl centre.
move_to
left_gripper1.0000left_y-0.0680
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2161, 1.3937, 0.5297, 0.033, -0.1543, -0.173, 0.0143, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3418 left_y=-0.0436 left_z=0.044 left_yaw=0.0006 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.0143 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965 state[joint_eff]: [0.0889, -4.9846, 6.2154, 1.5214, -0.1832, 0.0415, 0.9109, -0.0342, -4.7658, 5.9282, 1.0574, 0.0024, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_y": -0.068}, "note": "Closed empty again \u2014 the rim is still to the arm's right of the jaws. Reopening and shifting another 2.5 cm toward the bowl centre."})
tool
executing move_to over 10 steps (1.0s)
step 195
assistant
agent noteThe bowl's near rim now crosses the jaw column in the wrist view; closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3134, 1.4059, 0.5304, 0.0193, -0.2119, -0.2443, 0.9947, 0.0151, 1.3579, 1.4574, -1.2602, 0.0429, -0.2218, 0.9965] state[eef_state]: left_x=0.3349 left_y=-0.0657 left_z=0.0395 left_yaw=-0.006 left_pitch=-0.2628 left_roll=0.0017 left_gripper=0.9947 right_x=0.3003 right_y=0.0005 right_z=0.2281 right_yaw=0.1028 right_pitch=-0.6002 right_roll=-0.1398 right_gripper=0.9965 state[joint_eff]: [-0.5538, -3.5761, 8.253, 1.5214, -0.2613, 0.0073, -0.0513, -0.1162, -4.7658, 5.9282, 1.0379, -0.0073, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bowl's near rim now crosses the jaw column in the wrist view; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 205
assistant
agent noteThird empty close: the jaws are still short of and left of the rim. Lifting clear and repositioning 3 cm further toward the bowl centre and 2 cm further out before descending again.
move_to
left_gripper1.0000left_z0.1000left_y-0.0950left_x0.3600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3164, 1.4132, 0.5308, 0.0246, -0.207, -0.2562, 0.0197, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3351 left_y=-0.0678 left_z=0.038 left_yaw=-0.0066 left_pitch=-0.2653 left_roll=-0.0098 left_gripper=0.0197 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965 state[joint_eff]: [-0.1162, -5.0667, 5.7778, 1.2381, -0.1783, 0.0904, 1.0037, -0.1162, -4.8068, 6.2017, 1.0281, -0.0269, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.1, "left_y": -0.095, "left_x": 0.36}, "note": "Third empty close: the jaws are still short of and left of the rim. Lifting clear and repositioning 3 cm further toward the bowl centre and 2 cm further out before descending again."})
tool
executing move_to over 10 steps (1.0s)
step 215
assistant
agent noteThe white bowl now sits centred between the two open jaws in the wrist view; descending to rim height to attempt a grasp across the bowl (or on its rim) from here.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3809, 1.4101, 0.7715, -0.2535, -0.2413, -0.3153, 0.9946, 0.0151, 1.3586, 1.4574, -1.261, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.353 left_y=-0.092 left_z=0.0868 left_yaw=-0.0056 left_pitch=-0.2888 left_roll=-0.0128 left_gripper=0.9946 right_x=0.3002 right_y=0.0005 right_z=0.2278 right_yaw=0.1026 right_pitch=-0.6017 right_roll=-0.1394 right_gripper=0.9965 state[joint_eff]: [-0.4991, -5.4222, 8.9504, 1.3114, -0.2808, 0.0952, -0.022, -0.0889, -4.6701, 5.9692, 0.9744, -0.0073, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "The white bowl now sits centred between the two open jaws in the wrist view; descending to rim height to attempt a grasp across the bowl (or on its rim) from here."})
tool
executing move_to over 4 steps (0.4s)
step 219
assistant
agent noteAt 2 cm height the bowl's near rim runs between the jaws (left jaw outside on the table, right jaw inside the bowl); closing to grip the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3843, 1.5364, 0.6376, -0.0772, -0.2398, -0.3153, 0.9955, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3377 left_y=-0.0875 left_z=0.0214 left_yaw=0.0003 left_pitch=-0.3672 left_roll=0.0189 left_gripper=0.9955 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965 state[joint_eff]: [0.0889, -6.4205, 6.2974, 1.7949, -0.1392, -0.0269, 0.0806, -0.2256, -4.7932, 5.8462, 1.0379, 0.0122, -0.0708, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "At 2 cm height the bowl's near rim runs between the jaws (left jaw outside on the table, right jaw inside the bowl); closing to grip the rim."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteGripper settled at 0.029, ambiguous; lifting 10 cm to see in the overhead view whether the white bowl came along.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3847, 1.5295, 0.6323, -0.046, -0.223, -0.3386, 0.0285, 0.0151, 1.359, 1.4567, -1.2606, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3415 left_y=-0.0923 left_z=0.0257 left_yaw=-0.0057 left_pitch=-0.3418 left_roll=-0.0227 left_gripper=0.0285 right_x=0.3003 right_y=0.0005 right_z=0.2275 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965 state[joint_eff]: [-0.2803, -4.9026, 6.3795, 0.735, -0.2906, 0.2711, 1.37, -0.0615, -4.7248, 5.9692, 0.9939, -0.0366, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13}, "note": "Gripper settled at 0.029, ambiguous; lifting 10 cm to see in the overhead view whether the white bowl came along."})
tool
executing move_to over 7 steps (0.7s)
step 236
assistant
agent noteThe white bowl is lifted in the gripper. Carrying it right across the table toward the pink/purple stack (left_y ≈ -0.39) at safe height.
move_to
left_y-0.3900left_x0.3500left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3843, 1.3693, 0.8814, -0.4702, -0.2218, -0.3416, 0.0395, 0.0151, 1.359, 1.4563, -1.2602, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3414 left_y=-0.0923 left_z=0.1106 left_yaw=-0.0025 left_pitch=-0.356 left_roll=-0.0198 left_gripper=0.0395 right_x=0.3003 right_y=0.0005 right_z=0.2274 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965 state[joint_eff]: [-0.212, -6.9949, 9.265, 1.3602, -0.1636, -0.0366, 1.033, -0.0615, -4.8889, 5.7641, 1.0672, -0.0122, -0.0073, -0.0122] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.39, "left_x": 0.35, "left_z": 0.22}, "note": "The white bowl is lifted in the gripper. Carrying it right across the table toward the pink/purple stack (left_y \u2248 -0.39) at safe height."})
tool
executing move_to over 27 steps (2.7s)
step 263
assistant
agent noteThe wrist view shows the pink stack to the arm's left of the carried white bowl and slightly farther out; shifting 8 cm back left and 5 cm out to hover the white bowl over the stack.
move_to
left_y-0.3100left_x0.4000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0092, 2.4001, 2.6656, -1.4315, -0.5072, -0.9371, 0.043, 0.0151, 1.359, 1.4525, -1.261, 0.0433, -0.2214, 0.9965] state[eef_state]: left_x=0.3546 left_y=-0.3957 left_z=0.2063 left_yaw=-0.0176 left_pitch=-0.3657 left_roll=-0.0521 left_gripper=0.043 right_x=0.2996 right_y=0.0005 right_z=0.2261 right_yaw=0.1026 right_pitch=-0.607 right_roll=-0.1393 right_gripper=0.9965 state[joint_eff]: [-0.6222, -11.5214, 5.9966, 0.1783, -0.442, 0.0269, 1.0281, -0.1299, -4.7111, 6.065, 1.0476, 0.0171, -0.0171, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.31, "left_x": 0.4, "left_z": 0.2}, "note": "The wrist view shows the pink stack to the arm's left of the carried white bowl and slightly farther out; shifting 8 cm back left and 5 cm out to hover the white bowl over the stack."})
tool
executing move_to over 8 steps (0.8s)
step 271
assistant
agent noteThe pink stack sits about 10 cm to the arm's left of the carried white bowl's centre; shifting left and down so the white bowl hangs just above the stack.
move_to
left_y-0.2100left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8261, 2.1143, 2.0724, -1.1252, -0.4274, -0.7753, 0.0431, 0.0147, 1.359, 1.4433, -1.2594, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3916 left_y=-0.3115 left_z=0.1755 left_yaw=0.0217 left_pitch=-0.4235 left_roll=0.0009 left_gripper=0.0431 right_x=0.2986 right_y=0.0004 right_z=0.2231 right_yaw=0.1031 right_pitch=-0.6146 right_roll=-0.138 right_gripper=0.9965 state[joint_eff]: [0.6769, -14.8444, 6.5026, 1.3846, -0.3248, 0.0904, 1.0232, -0.0889, -5.1214, 6.2154, 1.072, -0.0024, -0.0317, -0.0122] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.21, "left_z": 0.13}, "note": "The pink stack sits about 10 cm to the arm's left of the carried white bowl's centre; shifting left and down so the white bowl hangs just above the stack."})
tool
executing move_to over 10 steps (1.0s)
step 281
assistant
agent noteThe white bowl now covers the pink stack in the wrist view, so it is above it; lowering slightly and opening the jaws to release it onto the stack.
move_to
left_gripper1.0000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6495, 1.8473, 1.4685, -0.7891, -0.3553, -0.6224, 0.0469, 0.0151, 1.3579, 1.4246, -1.2533, 0.0429, -0.2218, 0.9965] state[eef_state]: left_x=0.3852 left_y=-0.2108 left_z=0.1144 left_yaw=0.0562 left_pitch=-0.4732 left_roll=0.0384 left_gripper=0.0469 right_x=0.297 right_y=0.0005 right_z=0.2178 right_yaw=0.1044 right_pitch=-0.626 right_roll=-0.137 right_gripper=0.9965 state[joint_eff]: [0.4855, -12.3419, 7.0085, 1.2723, -0.2125, 0.1636, 0.6764, -0.2393, -5.6821, 6.2017, 1.0623, -0.0073, -0.0757, -0.0122] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.1}, "note": "The white bowl now covers the pink stack in the wrist view, so it is above it; lowering slightly and opening the jaws to release it onto the stack."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteI nested the pink bowl onto the middle bowl with the right arm (that stack held), then picked the white bowl with the left arm and carried it to the stack, but on release it landed beside the pink bowl rather than in it. Two of the three bowls ended stacked; the budget ran out before I could correct the last placement.
done
hindsightKey things learned: (1) Bowls are ~12-13 cm across, wider than the 9.5 cm jaws, so you must grasp the rim wall — offset the grasp point ~5-6 cm from the bowl centre so one finger goes inside and one outside; settled gripper reading ~0.03-0.05 means the thin rim is held (an empty close reads 0.01-0.02, so the margin is tiny — verify by lifting and looking at top_cam, where a grasped bowl visibly tilts). (2) Large single-axis Cartesian commands are often ignored entirely ("delta_clamped" with zero motion), especially descending near an object; recover by raising z / retracting x and then stepping in 3-5 cm increments. (3) Descending to low z first at a retracted radius, then moving out, works better than descending at full reach. (4) In the wrist camera, image-left is the arm's +y; I twice mis-signed this and wasted moves. (5) When the target bowl disappears from the wrist view behind the carried bowl you are roughly over it but can still be 5+ cm off — better to verify from top_cam by parking the carrying arm slightly to the side before release.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6491, 1.8439, 1.4319, -0.7509, -0.3443, -0.6285, 0.9948, 0.0147, 1.3502, 1.3945, -1.2415, 0.0429, -0.2214, 0.9965] state[eef_state]: left_x=0.3835 left_y=-0.2116 left_z=0.1063 left_yaw=0.0503 left_pitch=-0.4758 left_roll=0.0226 left_gripper=0.9948 right_x=0.2943 right_y=0.0003 right_z=0.211 right_yaw=0.1045 right_pitch=-0.6366 right_roll=-0.1356 right_gripper=0.9965 state[joint_eff]: [0.0479, -8.2256, 5.5863, 1.1648, -0.3297, 0.0366, -0.0513, -0.294, -5.8325, 6.2974, 1.1013, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
done({"summary": "I nested the pink bowl onto the middle bowl with the right arm (that stack held), then picked the white bowl with the left arm and carried it to the stack, but on release it landed beside the pink bowl rather than in it. Two of the three bowls ended stacked; the budget ran out before I could correct the last placement.", "hindsight": "Key things learned: (1) Bowls are ~12-13 cm across, wider than the 9.5 cm jaws, so you must grasp the rim wall \u2014 offset the grasp point ~5-6 cm from the bowl centre so one finger goes inside and one outside; settled gripper reading ~0.03-0.05 means the thin rim is held (an empty close reads 0.01-0.02, so the margin is tiny \u2014 verify by lifting and looking at top_cam, where a grasped bowl visibly tilts). (2) Large single-axis Cartesian commands are often ignored entirely (\"delta_clamped\" with zero motion), especially descending near an object; recover by raising z / retracting x and then stepping in 3-5 cm increments. (3) Descending to low z first at a retracted radius, then moving out, works better than descending at full reach. (4) In the wrist camera, image-left is the arm's +y; I twice mis-signed this and wasted moves. (5) When the target bowl disappears from the wrist view behind the carried bowl you are roughly over it but can still be 5+ cm off \u2014 better to verify from top_cam by parking the carrying arm slightly to the side before release."})
tool
done: I nested the pink bowl onto the middle bowl with the right arm (that stack held), then picked the white bowl with the left arm and carried it to the stack, but on release it landed beside the pink bowl rather than in it. Two of the three bowls ended stacked; the budget ran out before I could correct the last placement.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 25.68 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3782, -0.0223, -0.0257, 0.9994, -0.0181, 0.7933, 0.6025, -0.3794, -0.0128, -0.033, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2946 right_y=0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5385, 10.0855, 1.8242, -0.022, 0.1099, -0.0757, -0.7179, -1.4427, 10.2085, 1.9023, -0.0562, 0.1685, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d29140afd3189c6e2b585d7e57ec587960fa0c5a2906bc021fba9d85d830861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:880746a96da15755464f38e41bf0b7af1e56ec7f08e7271e46ed0a321d3ccb67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:222a9df661d0a16e694e5e080562fc0bd85385e8b49fc7c699971b8f7cabee91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 14.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3782, -0.0223, -0.0257, 0.9994, -0.0181, 0.7933, 0.6025, -0.3794, -0.0128, -0.033, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2946 right_y=0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5385, 10.0855, 1.8242, -0.022, 0.1099, -0.0757, -0.7179, -1.4427, 10.2085, 1.9023, -0.0562, 0.1685, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d29140afd3189c6e2b585d7e57ec587960fa0c5a2906bc021fba9d85d830861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:880746a96da15755464f38e41bf0b7af1e56ec7f08e7271e46ed0a321d3ccb67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:222a9df661d0a16e694e5e080562fc0bd85385e8b49fc7c699971b8f7cabee91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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0PjI0O+nuFvgG6UU1iSNGTGDMBhDXSYiE8Y4bFFJjMpnE+qWGf8Y1o46NC54DESPsVEPPsQViuCpdwkOJC1Tt4z8x+2On6kkXEzaNYRSZZxpveJX8RZ3C3pQ7/8l4jbutk0TVi3dqEpRB+yzNLuUADXG+W6jR+3Kf+E+1ZpTFvB9XM/JHZbi+K6d7+oOXuEJpNvQ21z3Fc09Hpl3slGGyFLlXiE2crel5NQsrYsO3kTC5PLnKR2aNn8vhqmsaA5Djm2wAOAoqqBq6j9hUDBIgCCdOQ6Sd+urHc/roa0Lf+kXp9sImJKvXD6jkkuz+mZEyZc1EjjdI9/MS1He493KnAqxlq9okVM0MKmaQD8uZGETzv4VDuyv6DaHTv8zG0XailL5a7KEVPLwLMVAwLDc22MqX4uMtko8buX13yDlj9s20znGzPaW7macoLjqvfIYmBI+jlSybdkZYjpMw39jpCMbyuaCd8syNG5V/7Z2GZSRJ4jClWUgQfw0x8m2EtufM+Tf7Jr0n14U3AfUNghmhz2IaIBOKvfRpwK7wDzgXTHtF1u/En4jVXCJBX9XmQSAUREV7w/omdJ+wcxFv1C7dU4qpo4ozekbQ91QXoF+Z6KOf2xmO1mloqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0117fzeYpqjwqSMWw8rUxJE7",
      "input": {
        "note": "Three bowls sit in a row on the table; the right (pink) bowl is visible in the right wrist camera slightly left of the jaw column. Moving the right arm out and slightly left to hover over that pink bowl for a rim grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": 0.04,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0117fzeYpqjwqSMWw8rUxJE7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3832, -0.0227, -0.0261, 0.9993, 0.1699, 1.0821, 0.6117, -0.2062, 0.1062, 0.0402, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1791 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9993 right_x=0.3311 right_y=0.0415 right_z=0.1338 right_yaw=0.0478 right_pitch=-0.1021 right_roll=-0.0153 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.6889, 6.8308, 1.7509, -0.0757, -0.0611, -0.022, 0.1436, -3.8496, 9.9761, 1.8339, 0.2125, 0.1978, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a79a349d30d9122280c6c09da9834d1222422d6ece061a8c2d34bec44399c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e934751b961549390415fbb98ea255ec8bb47478fd2f06862fe58b81e6abfc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c766f403b7d2eec4ab68a2885c5cde9524a4405355656973f027f72e7f15505f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 14.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3782, -0.0223, -0.0257, 0.9994, -0.0181, 0.7933, 0.6025, -0.3794, -0.0128, -0.033, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2946 right_y=0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5385, 10.0855, 1.8242, -0.022, 0.1099, -0.0757, -0.7179, -1.4427, 10.2085, 1.9023, -0.0562, 0.1685, -0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3832, -0.0227, -0.0261, 0.9993, 0.1699, 1.0821, 0.6117, -0.2062, 0.1062, 0.0402, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1791 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9993 right_x=0.3311 right_y=0.0415 right_z=0.1338 right_yaw=0.0478 right_pitch=-0.1021 right_roll=-0.0153 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.6889, 6.8308, 1.7509, -0.0757, -0.0611, -0.022, 0.1436, -3.8496, 9.9761, 1.8339, 0.2125, 0.1978, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a79a349d30d9122280c6c09da9834d1222422d6ece061a8c2d34bec44399c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e934751b961549390415fbb98ea255ec8bb47478fd2f06862fe58b81e6abfc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c766f403b7d2eec4ab68a2885c5cde9524a4405355656973f027f72e7f15505f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016PxW8J6ZJNdK1LgDB7T8xU",
      "input": {
        "note": "Pink bowl is nearly on the jaw column but sits above the jaws in the wrist view, so it is still a few cm further out. Advancing 5 cm radially to hover over its centre before picking a rim grasp point.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.055,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016PxW8J6ZJNdK1LgDB7T8xU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3862, -0.0227, -0.0261, 0.9993, 0.1883, 1.2976, 0.7216, -0.1806, 0.1188, 0.0486, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9993 right_x=0.3623 right_y=0.0514 right_z=0.1147 right_yaw=0.0494 right_pitch=-0.1803 right_roll=-0.0277 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.5521, 7.0496, 1.7363, -0.0806, -0.0757, -0.0122, 0.2256, -5.6, 9.6615, 1.9414, 0.0708, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4083505025a22a2f7c79514ec6805485663ceadad77d1d9df89faa369379f53e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7584da622ab0cdb04db953f0a59801b35cde608edf2b421ac23d817040e90329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01b7d2a79e0867d9958474b9aefa724e3cc4b073539550ae59356906a2e521e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 8.096 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3782, -0.0223, -0.0257, 0.9994, -0.0181, 0.7933, 0.6025, -0.3794, -0.0128, -0.033, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2946 right_y=0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.5385, 10.0855, 1.8242, -0.022, 0.1099, -0.0757, -0.7179, -1.4427, 10.2085, 1.9023, -0.0562, 0.1685, -0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3832, -0.0227, -0.0261, 0.9993, 0.1699, 1.0821, 0.6117, -0.2062, 0.1062, 0.0402, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1791 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9993 right_x=0.3311 right_y=0.0415 right_z=0.1338 right_yaw=0.0478 right_pitch=-0.1021 right_roll=-0.0153 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.6889, 6.8308, 1.7509, -0.0757, -0.0611, -0.022, 0.1436, -3.8496, 9.9761, 1.8339, 0.2125, 0.1978, -0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3862, -0.0227, -0.0261, 0.9993, 0.1883, 1.2976, 0.7216, -0.1806, 0.1188, 0.0486, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9993 right_x=0.3623 right_y=0.0514 right_z=0.1147 right_yaw=0.0494 right_pitch=-0.1803 right_roll=-0.0277 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.5521, 7.0496, 1.7363, -0.0806, -0.0757, -0.0122, 0.2256, -5.6, 9.6615, 1.9414, 0.0708, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4083505025a22a2f7c79514ec6805485663ceadad77d1d9df89faa369379f53e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7584da622ab0cdb04db953f0a59801b35cde608edf2b421ac23d817040e90329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b7d2a79e0867d9958474b9aefa724e3cc4b073539550ae59356906a2e521e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QPbj77ykXq7K8hsipi8Tgv",
      "input": {
        "note": "The pink bowl now fills the right wrist view, centred just left of the jaw column. Shifting to its right-hand rim (about 6.5 cm to the arm's right of centre) so the jaws can straddle the rim wall.",
        "targets": {
          "right_x": 0.385,
          "right_y": -0.005,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QPbj77ykXq7K8hsipi8Tgv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.3197, 7.1726, 1.7265, -0.0806, -0.0659, -0.0122, 0.1162, -5.5863, 9.4701, 1.8828, 0.0708, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d599f748a728b68cf67710e2d7fe8a3c40ffcd0f4520160566ab9b6b1ea8863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1218241003a9195ecc97fb48630cf2ff2e2bc7ae2bcd0157dac6a32384d7a6b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8563419905b860aab74c9a055b2b6850b3a97232a7d8aea4b0b3746b603e581d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 5.784 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3832, -0.0227, -0.0261, 0.9993, 0.1699, 1.0821, 0.6117, -0.2062, 0.1062, 0.0402, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1791 left_yaw=0.0005 left_pitch=-0.008 left_roll=0.0 left_gripper=0.9993 right_x=0.3311 right_y=0.0415 right_z=0.1338 right_yaw=0.0478 right_pitch=-0.1021 right_roll=-0.0153 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.6889, 6.8308, 1.7509, -0.0757, -0.0611, -0.022, 0.1436, -3.8496, 9.9761, 1.8339, 0.2125, 0.1978, -0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3862, -0.0227, -0.0261, 0.9993, 0.1883, 1.2976, 0.7216, -0.1806, 0.1188, 0.0486, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9993 right_x=0.3623 right_y=0.0514 right_z=0.1147 right_yaw=0.0494 right_pitch=-0.1803 right_roll=-0.0277 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.5521, 7.0496, 1.7363, -0.0806, -0.0757, -0.0122, 0.2256, -5.6, 9.6615, 1.9414, 0.0708, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.3197, 7.1726, 1.7265, -0.0806, -0.0659, -0.0122, 0.1162, -5.5863, 9.4701, 1.8828, 0.0708, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d599f748a728b68cf67710e2d7fe8a3c40ffcd0f4520160566ab9b6b1ea8863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1218241003a9195ecc97fb48630cf2ff2e2bc7ae2bcd0157dac6a32384d7a6b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8563419905b860aab74c9a055b2b6850b3a97232a7d8aea4b0b3746b603e581d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QYKjgEIEhgCKkA6n3aKoP762rkKN0hmC3YWhFjywv5g6WRjkXkOCHzWVIHCQ6lwqnS5JqeO9HGoICLBoajFr3o7WeAkudJS/M88Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYnQy9UGEgxZtjm0PO3FUM6RAicaDPHzwMqXvnEHUUkWtSIwdD0u84IQwSlX23zezVwEXDBaFrAbPKFcOL2JpT/virKqUGG3qcMksQwf0G7vFcYsKoMFrRcDa75O20FQpSDAbkN/2b3LkU2bUGqHK96EkvDOosiZPQiaYIZg46VH8VtWRMp1Yfnq6ajPyBcjo+XRbz+u5t2L+V4OXaXSYM6aqqH53aPMERAf+WVQq8hf2Naa3ZzsYU8R+W53IZe+Paf71Kq3kymCcfrwQ0OGsbKpUOCAS+S3VCJML2j/A9qVID/qEdaplQrrtUkdLs7RR6YlcibOfdl3Mm7860O6GDcYcSDxSi/ngzdKsSsL+GWTIletFp+fGiHavXd+6+Fub+QetLYvjH15getzfBVTfIlUOfz2Ohz1B2PTzzDnRP3tGW0l3UxcTppb7naLeez+URNH6dCxSm4xaENDqLmbzn2ssPZMr1L/Pk1xTqmRnbi7szhCYHi+5RWxxjcKdvt4pOu/Sw9i63iOCUT1VD1aTtGKVAaFJt3Vd3yYMe478EEaYp6Ah/knOCAlvI7frLLfsutjqWEqodOLH+c8uFh3xL1ujjSs7Pz2NPw7glEs/DUJM8UVpSKncTEhT69JNALPS5g9o7kTq0oApy/i6IRSAnKP//6zTlkTv+uWRrmCpnIGpXJh6OLNxHcYQz29GFXX5CpXXEOWrYvzHcpatxTs61W9PtiPbIfqcBQ6/ZGf3lvmMDGvVT54E9pU8DGUIZHlnFAEwpVQWwQuv+lHibT5mwqSkJszfxDGZl1MXe7ItCbXUDk/nf2GJWQFMG4XC63PwZHrx89QrV7GFYOF22RN/DGi1EAQF9NzjDf0JN5V8//3ldx1zDffA9smGO24CDHw8xaGmOkxPKcMYZCLr6aZQiOT7UovAZKQ11oZBAdxr/435bTLJRiaH5GIzcuH0Oy78upAVawId/FT/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013KwsvjJ7eY7yT3vf8rWRNo",
      "input": {
        "note": "The last lateral command was clamped and the arm hardly moved, so I am stepping only ~3 cm to the arm's right toward the pink bowl's right rim.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.02,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013KwsvjJ7eY7yT3vf8rWRNo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0223, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.2923, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122, -0.0205, -5.6, 9.4701, 1.8828, 0.0269, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb5a4a57565600dc0e2bbd333ca8f6b18b684e4f6589da7a27c17642b63b770d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91090e943752d73a7d1089a1f96ced6829cc7924908d3e8a0377650cb0002a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1ed5ea3528af51696734ee75e7517a4ceb8f9c349a70f3ebb64e7c6a3213836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 11.7 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3862, -0.0227, -0.0261, 0.9993, 0.1883, 1.2976, 0.7216, -0.1806, 0.1188, 0.0486, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1774 left_yaw=0.0005 left_pitch=-0.0149 left_roll=0.0002 left_gripper=0.9993 right_x=0.3623 right_y=0.0514 right_z=0.1147 right_yaw=0.0494 right_pitch=-0.1803 right_roll=-0.0277 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.5521, 7.0496, 1.7363, -0.0806, -0.0757, -0.0122, 0.2256, -5.6, 9.6615, 1.9414, 0.0708, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.3197, 7.1726, 1.7265, -0.0806, -0.0659, -0.0122, 0.1162, -5.5863, 9.4701, 1.8828, 0.0708, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0223, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.2923, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122, -0.0205, -5.6, 9.4701, 1.8828, 0.0269, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb5a4a57565600dc0e2bbd333ca8f6b18b684e4f6589da7a27c17642b63b770d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91090e943752d73a7d1089a1f96ced6829cc7924908d3e8a0377650cb0002a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1ed5ea3528af51696734ee75e7517a4ceb8f9c349a70f3ebb64e7c6a3213836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQQKjgEIEhgCKkAXyVnEMxzBf2ZqXbjbhDaSlo8gzFUHrGCtIYHjK0R+/f+Tr5axejvk2x2dH+3EIVIuMcC94B+NJaCc8Q0t1D4VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY7Qy9UGEgx8Mk07aGfZNrb2Tg4aDEB1o/WhGsFpeoBTSCIwODdNFplfmZwodj1SxJOtWw3yXIIs/ySB0YIM8qrp/Y6FqE1a6yJf9urcb1E5502eKuMCu2Q/nuBQ1wHSuFyX91b31OveK9+gYddPOyTa97Ne1dmvMhsa1vyY1g2cjkzN8nig01L7jR1UB6Uor7HTtCpPpkS/+OPn3ixKJ4FpZsTOVtaPq9ZQvNUTVWi0p0y3Wphc+dRxcHqjP+LrQZGHzjpeeCtH4RYUFTqpTb6NX4hmrQRdeI3ZEFboJNJY2WBoxfbIZgNTJ1zZmx4wiYs50JE0g79hPB1ZbQn9lp0+zWltErkGTcO414IsQgdDI7mUDfdWZUygcPuNqSK9HYj1l+nrdruAuX10h/1oTKfF7JPHJEVk3IY3zj7Yb04wQxxIUyMkhgzQgQR2C0qJDINGeHkssFU0RpKTk04tfKKCvhQd4+Tg83/ChJ6XmoiIq/Vdlxn0XpLwFQx/WrzKO09Onpo1xbs2QnZ0LC+Sanc8Aq9dEnB5j/JzNyjHATNW0yGAk1GMkhFuci0pZ6Far6O5rfhTFLz71BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JnY4nGMHWRAuDWEVCeUMo2",
      "input": {
        "note": "The right arm has stopped tracking entirely (possibly touching the bowl or at an awkward IK pose), so I am lifting straight up 8 cm to free it before repositioning.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JnY4nGMHWRAuDWEVCeUMo2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, 0.1871, 1.235, 0.981, -0.4431, 0.1146, 0.0414, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3702 right_y=0.0532 right_z=0.2002 right_yaw=0.0569 right_pitch=-0.1218 right_roll=-0.0224 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.1282, 7.1726, 1.7558, -0.0855, -0.0806, -0.0122, -0.4171, -4.2051, 7.9111, 1.3993, 0.0073, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b2166d94dac1da143a85c12a0133ceffc9a062319485ecb06df14989f58db78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4cf0e3fd8c9aa2ead81a066342a91f34b082eb07d1f723447ab0d5ed14ec45c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a08fe144811fdde2c69daab1c75c2a1394b87ba2178197ace2dc73c66f9df66c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 9.275 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0005 left_pitch=-0.0175 left_roll=0.0002 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.3197, 7.1726, 1.7265, -0.0806, -0.0659, -0.0122, 0.1162, -5.5863, 9.4701, 1.8828, 0.0708, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0223, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.2923, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122, -0.0205, -5.6, 9.4701, 1.8828, 0.0269, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, 0.1871, 1.235, 0.981, -0.4431, 0.1146, 0.0414, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3702 right_y=0.0532 right_z=0.2002 right_yaw=0.0569 right_pitch=-0.1218 right_roll=-0.0224 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.1282, 7.1726, 1.7558, -0.0855, -0.0806, -0.0122, -0.4171, -4.2051, 7.9111, 1.3993, 0.0073, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b2166d94dac1da143a85c12a0133ceffc9a062319485ecb06df14989f58db78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4cf0e3fd8c9aa2ead81a066342a91f34b082eb07d1f723447ab0d5ed14ec45c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a08fe144811fdde2c69daab1c75c2a1394b87ba2178197ace2dc73c66f9df66c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiAoKjgEIEhgCKkAlixGkIfkoyT9IN0rA4cHFDmsyBUA7dIpwFhHv4cPndnKy2Qxii+FQ87+XLm/w/pixSmp79xQOSKP6/UoVeUTHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZrQy9UGEgxtNP3lvv08ItJW81gaDGByJwpeoSVUiVYxoSIwWg9g1sf5FZgJJrU99g6+SpIO62YHm+44h/swMVo7ySiqO+mpcXe7+yW1v24UW0EZKqYIwfpu8IWyClISxTsRyMX2VG9i3nYRdvRiFus8u3IUheAj1B1nL3qn4nxaCWxahIm/T9OslmAlFD85gMDMCoSzAKkyC67qTJGpO6Sjuttkb77ZqCtJWFNMOjRpLYDI1rbmiY/qz4QNdzvrD35F5OVcqIkjw1u0KeNYrgIMrKj6JLTYFWq2VLpUbqHvQ5zqY/QKjoDu+OW93gVTfgrzIK/1m4IxAfQbH1Y39qchCKtPZVev0OkWkfYC16Bpn/3myQOq53aRHgGqudEZNhe9vPpAzgNRPLF1TjB4ihA38gQ4q4sM6G2z3woYqYKyV9GZbpnHBvAvqLBISEhLtqmK3BrtkdYyyhNtEByCI3cWNiQPAyGEqgVqiwrDPsFRn6CgLWGE2J08nwy2NzDDt1/tAA/TfxJRl9K/AC4cWwGyiyNE23cMTHjziKIUPt5vczXPiUM/lveaeIfTyho4Sg6G8of/RVJnW6745BmUzjBe6WCMFuDgtUBgO74pj+gKb1ivzWEqIpB5qotYcsYwKWLVOIHbJC0nW6OAGl3twTw9JsYzQPvp279IAuaJNw5+VhgEhi3Mn0W0LfWxhsaCI8R1Azr1VC0uXCM/8w8mbU0CRxDSYMu4LUHx6c9rTtHwyT7TRBlAxNHKsSfx90/+8TRe2wbuXuU1GmFvg2lr6V0dNEM+GG7nuvJI5grYGTnVTSZqJ6nPw6ygaEOQsG6fPX2NFRGjOfjhCByZSjxC4XUhZ+DXywIa5abS7fAADd51Q0FvQw194R4B5oZ/PIUno8wb7FivfDcs3JbQqrbFSk2ThTAtgflpgrxeoFmrjOcMXxENJK2+EEKnpJt4KEDRCsyf16RTR1s9UO9b9JgbCGL0+G1jzbO0CAa8yLyvkZiP9XG2ILlxRYXB6+IHyTKVybUKexB/uo9l6zm7ZmCy6GCOjVt3BvUD7FVU3FROx1MMBLZ1SDXDDomhDv0alil/vGCOsHDVlHNAvktDrsRL8WNIppLdFoKE0Mozr86AlTnOMnYdGfph+BwSreKNGLGqtBCYVNhMtfN3p9gZSCKorF9hPDKyAXVXnukYDPAnNnFajcCsSt/Kh6LMJGB8fdsb5Bb0lhD35zRxFFGho/Bz+n6sxalnmjRAuUtIdMbkMn1wpsY3QVvcw/MEGDMmlNeTw9v/wS5bTmWqjcQYY/A6b3Wp4t2NJ5mMOP5/W1nARxCbmwoKbTZOvNMzg2GioCiB57Bc+M+kipY/+qK7ye4O2XGtzLCU+mmYI+3EGc24cwBURAsaYYpHaRy2hwLt6SylqmAGACl+KGQ2jwRxbQ0zjo3mlTzXfT0X2A01LSJD1kITcrQy5wsS87W+6Xyg3hd+y//E+iGAN/GNt6szYiKcGnr3nJnkDBed9PfnPblWbZm5jC4kEcsjt2LmB/MKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mEfaQzg7aGFzWMGiRUjDU",
      "input": {
        "note": "Lift succeeded; the pink bowl is now centred on the jaw column in the right wrist view. Moving 6 cm to the arm's right at safe height so the jaws sit over the bowl's right-hand rim.",
        "targets": {
          "right_x": 0.4,
          "right_y": -0.01,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014mEfaQzg7aGFzWMGiRUjDU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, -0.054, 1.3258, 1.0069, -0.4606, -0.0441, -0.1032, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3829 right_y=-0.0093 right_z=0.1751 right_yaw=0.0302 right_pitch=-0.2088 right_roll=-0.0248 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.1419, 7.0769, 1.7363, -0.0757, -0.0611, -0.0122, -0.2803, -4.8342, 10.5778, 2.0098, -0.1978, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3143ed7019e355570cadfad1914a4e575c32f41037e2bc28a69db6a3e30582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c33c28659105cc5623452cc69fb9681a3cbd1872e5ecf0bef0a6170589524d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a9adc34bee425c291d5d4706d361a1e0b98018430ebcb74116dc632a29500b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 12.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0223, -0.0261, 0.9993, 0.1879, 1.3132, 0.7368, -0.1753, 0.1184, 0.049, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1769 left_yaw=0.0002 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9993 right_x=0.367 right_y=0.0522 right_z=0.1166 right_yaw=0.0492 right_pitch=-0.1754 right_roll=-0.0265 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -1.2923, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122, -0.0205, -5.6, 9.4701, 1.8828, 0.0269, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, 0.1871, 1.235, 0.981, -0.4431, 0.1146, 0.0414, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3702 right_y=0.0532 right_z=0.2002 right_yaw=0.0569 right_pitch=-0.1218 right_roll=-0.0224 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.1282, 7.1726, 1.7558, -0.0855, -0.0806, -0.0122, -0.4171, -4.2051, 7.9111, 1.3993, 0.0073, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, -0.054, 1.3258, 1.0069, -0.4606, -0.0441, -0.1032, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3829 right_y=-0.0093 right_z=0.1751 right_yaw=0.0302 right_pitch=-0.2088 right_roll=-0.0248 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.1419, 7.0769, 1.7363, -0.0757, -0.0611, -0.0122, -0.2803, -4.8342, 10.5778, 2.0098, -0.1978, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3143ed7019e355570cadfad1914a4e575c32f41037e2bc28a69db6a3e30582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c33c28659105cc5623452cc69fb9681a3cbd1872e5ecf0bef0a6170589524d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a9adc34bee425c291d5d4706d361a1e0b98018430ebcb74116dc632a29500b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAkKjgEIEhgCKkCguCh64duiP2EJM3PuMM2IKy7et4p7TJYPqGBEKwdaTUjyEeASNQeb9sKinwJCI4WY6R2mB1HimMQT8qRet3LWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaXQy9UGEgz9JD6ldqebuAL9BaYaDI3TOPBO3d7TLD1YoSIwiGVdi8dvln/uYm1QSdqaCK17zbXXZEACpDCJbgOTZgRdKbve17GaT4wrbUbSpl1zKrYH+nP73KQovBiV8nE8celoxx8M5VgOCrxrU1vhmd/wjgkT7WmSln7OlLlxTylZoUo9cObUoApB/QvxAan5wR7/KMV2Jo85bFdyXG8ItVssy4HdMbEJyq4hmMX/p4SgWsIShIHeDbQTwF0WlLpt28tJxk4BMXBpjWoJHnYvPLxWcO4YioPlf04U0vk1be3ZUl2s26frNv9M/4SPwVuydfhXhvlzggIRhobyL3UMHjwn/Dq5U/MC7pcfGkrEMcdbGpH7moWX5LxYys1E20CyltN6szI+69hGm8xPIkz4VgWMkOn2D9kzKaaBfOobuP53LfQDui4v03MJmhlvX3FhBJ+GPJbImoHAjb30AonWCTpllg0BmZ+M07LAs0in2VFkTujOYyKfxEek1up2SLTpKQtuhdiommdbUXDEtz2WLPWUFABNxbdq0SQuEhzdyzPjpG1rKxDphRahEoReVcbAfWL9Q4BvEUBDcQGgesondNfEIwsY/rz2sq/PcD0XbUvB0xprkxr+e94+6AXa0+3cLf3HvJTVXtaP1DklcGCucZsNFZpZI3by/N6X9kVgAJl52CgMiAjdbw9idZRH5LbbVEe6spheLKIV/e59WolGA4zDOJRNegaR8vc5Esg35ns0hZeRN0oO4VauGnQ1L2phE/8UKuEzmD0xt2QxZRftiGtM3ZgB3ebXYJjNM9OBtKuYXxxAbLRCsvKDrwmMirg0t68lkD6FG8Y901P/47X76/FpxF5u5U7G/DDmf3ipd05xbRMH74TqXp6csmrqRm/HGs4CXdwli3MuLuZNfhIHtch+MWGLPgKDm8VTFQV6WOmG57sC09wSjJUoC5Jlzudaume49A5iXxYRSF3F1H/9x0+i9wUmeP3ImLjlyWIJ1A8opZWFDdR3fQSjkkKA6R0ZsTT4gzVdeo7/dk+83K7ZgCDdta5o4/wx/LbhKop/fYZp0ksyQar7cMIhS6jpCcr/z8yubwqMFO1x/9F0IfW/8yUnHeDBrJUSYoolZaInS5ULXRCT3rYBQB3eBJ5jpB1jlqHanftn7g8LlCmoi7zjApIh7uGD9mYpJeRIkNk8yYoASiG/LgkoKWceDnzEV2np8mWNqhcNfkN5k17pT7N3TiwRU8w6pJiGAj2y4aV66oDR4BmaMqhrHqd4/iVKjhdkVAF9NvYz0Ujr2MVQMPJnYrFiFR/7mRi+WcvmRLJU3jDn2BlXP0dqDgI+8yMDW4HvDuq8AMRuSuvDDtm32FGdElnpz9kAAWjRYQ0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XsQGSU2uykwpmNs42mcb3j",
      "input": {
        "note": "The jaw column is now over the right edge of the pink bowl's rim. Descending to 4 cm so the open jaws straddle the rim wall (one finger inside, one outside).",
        "targets": {
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XsQGSU2uykwpmNs42mcb3j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3893, -0.0223, -0.0261, 0.9993, -0.0544, 1.5372, 0.6201, 0.0608, -0.0605, -0.1181, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1767 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9993 right_x=0.3695 right_y=-0.0058 right_z=0.0319 right_yaw=0.0542 right_pitch=-0.2842 right_roll=-0.0154 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.306, 7.0222, 1.7509, -0.0708, -0.0562, -0.0122, -0.0342, -5.9966, 5.9692, 1.8144, 0.1197, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b94c6ed2fb8bef8bb17ce6f6eb605cf5956501cdcf7da75e442f2b0090e81c07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050bc093900ccc8b2613bf7d1773b2219774982a94059b65585bbdf5dd5caa40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63e2681642527c492c544e70c0ce1063c009ee171ef48cdf93c923f0d5184db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 7.015 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, 0.1871, 1.235, 0.981, -0.4431, 0.1146, 0.0414, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3702 right_y=0.0532 right_z=0.2002 right_yaw=0.0569 right_pitch=-0.1218 right_roll=-0.0224 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.1282, 7.1726, 1.7558, -0.0855, -0.0806, -0.0122, -0.4171, -4.2051, 7.9111, 1.3993, 0.0073, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, -0.054, 1.3258, 1.0069, -0.4606, -0.0441, -0.1032, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3829 right_y=-0.0093 right_z=0.1751 right_yaw=0.0302 right_pitch=-0.2088 right_roll=-0.0248 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.1419, 7.0769, 1.7363, -0.0757, -0.0611, -0.0122, -0.2803, -4.8342, 10.5778, 2.0098, -0.1978, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3893, -0.0223, -0.0261, 0.9993, -0.0544, 1.5372, 0.6201, 0.0608, -0.0605, -0.1181, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1767 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9993 right_x=0.3695 right_y=-0.0058 right_z=0.0319 right_yaw=0.0542 right_pitch=-0.2842 right_roll=-0.0154 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.306, 7.0222, 1.7509, -0.0708, -0.0562, -0.0122, -0.0342, -5.9966, 5.9692, 1.8144, 0.1197, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b94c6ed2fb8bef8bb17ce6f6eb605cf5956501cdcf7da75e442f2b0090e81c07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050bc093900ccc8b2613bf7d1773b2219774982a94059b65585bbdf5dd5caa40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e2681642527c492c544e70c0ce1063c009ee171ef48cdf93c923f0d5184db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017MCVxy4i8yDSe4jBAGErAQ",
      "input": {
        "note": "At 3 cm height the bowl's right rim edge sits ~2 cm to the left of the jaw column, so I am nudging left 2 cm to put the rim wall between the jaws.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017MCVxy4i8yDSe4jBAGErAQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0116, 1.5562, 0.6132, 0.1051, -0.038, -0.0925, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3737 right_y=0.0059 right_z=0.0298 right_yaw=0.0624 right_pitch=-0.2672 right_roll=-0.0169 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.7411, -0.0806, -0.0073, -0.0122, 0.1573, -6.0103, 8.0479, 1.3846, 0.0806, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bff8cc73c9d4b89421345f1215c7ddf1b636cf3033d11a8194c6ed70c612d0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cae832d7368f729c97b33828c9f7e7985262872748385ffa3d297aa48ba0bd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:adb3ae072ba21edae1c927353ff51c319b142764908bc00155acc90c37b3ba6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.493 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9993, -0.054, 1.3258, 1.0069, -0.4606, -0.0441, -0.1032, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0179 left_roll=0.0002 left_gripper=0.9993 right_x=0.3829 right_y=-0.0093 right_z=0.1751 right_yaw=0.0302 right_pitch=-0.2088 right_roll=-0.0248 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.1419, 7.0769, 1.7363, -0.0757, -0.0611, -0.0122, -0.2803, -4.8342, 10.5778, 2.0098, -0.1978, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3893, -0.0223, -0.0261, 0.9993, -0.0544, 1.5372, 0.6201, 0.0608, -0.0605, -0.1181, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1767 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9993 right_x=0.3695 right_y=-0.0058 right_z=0.0319 right_yaw=0.0542 right_pitch=-0.2842 right_roll=-0.0154 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.306, 7.0222, 1.7509, -0.0708, -0.0562, -0.0122, -0.0342, -5.9966, 5.9692, 1.8144, 0.1197, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0116, 1.5562, 0.6132, 0.1051, -0.038, -0.0925, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3737 right_y=0.0059 right_z=0.0298 right_yaw=0.0624 right_pitch=-0.2672 right_roll=-0.0169 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.7411, -0.0806, -0.0073, -0.0122, 0.1573, -6.0103, 8.0479, 1.3846, 0.0806, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bff8cc73c9d4b89421345f1215c7ddf1b636cf3033d11a8194c6ed70c612d0ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cae832d7368f729c97b33828c9f7e7985262872748385ffa3d297aa48ba0bd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adb3ae072ba21edae1c927353ff51c319b142764908bc00155acc90c37b3ba6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QYKjgEIEhgCKkBk7k+AdJwDFXVhOdv6zDrPu1eP1Nug0j6TPsqV1g8+g5c+cUQQKiKZ7mN7ajqaVOwOPaHI6eNGcA1dnmSxs0/0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbnQy9UGEgza/raM3UJsd1mj/doaDIlA/XG/tI/YU61SKiIwqhAGG6fwouCXrMhF6ZINCGvpx8czXJoYED7DZtr9nZez9/LnWcDSstfxllzwtjXcKvsEgfkMbpcD4ajZz5vp/0HM2spQvKt7N3aGASKnlWY2WakThtgY5jon3IrPHsl6gN1TOsI8KSxLK1FNzjrQUXtNERuvaJJ8QDXyuX91W/JzjusuH6u2zbGci4zZSjCOLmfpq2+vT80kwUjnklw4l39dk/AUP3MNBH8/F/tAoW0by1eONeZNXLgdDQsX1gfYi6ezfpZaEwolytJcGepXhg52RXtkJV/WOfqA0V1sIwD1t7878qRDPMTFiVGu40ONGU+LC+OBwIsVZ926kYrms1MMDviZMysgn23ynfIjhHaNgrg36GWw+qCW/Qb6Hcie1jyyAKt1hgoDN+HtEoY3NZKeQ7Z3Guaf4cRWsENpWhWn9yPcfPzyfPuPNqo70F8eJi+vHmP5ql4bzlvhnqoCCL78u2ILAsJ/eG3l4pD295+raXwSeToK/6aB5/3h/q/58fHOA4xJvccmsI8D3lKVzEsQSKG/hP4s2UjWacoQVtZY6eeOhlpGHsf7EznPd/Mg9qddH2A02a5RvJRnAY58SIf3zkf7437zzB62ZcV1n0RGOy4Vh0rXA2R/NkNxv2ubIHIQsma+T9Mez+1rFbP0AWIBJYQRigK9lRze+4FLWBgN7xtnEgQHKlWea5oXOeF+hPTrAj0xVAgJH5K5TjW3SD2h6cropryVWT09RV+qsrd0QPtUDfGmEM4o342OIVBs0aIxk3obAdVjcwDAXRT8mGfFSg+GjIjKf9ebxGZKDz4kyVnJhYenzNVy2IbdlKTtOhOThKEJ1T1g0djIj9QmuXiy4CPgg+H5jX8hrXS/nDO6GjrG6HpM3ZRs0Qu47tAuRIEcXQwd+lq8rKHwrhcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJEMjSyaQeKxrSvJTLPDzs",
      "input": {
        "note": "The pink bowl's rim now lies between the open jaws in the wrist view; closing to grip the rim wall.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YJEMjSyaQeKxrSvJTLPDzs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.5494, 0.6132, 0.1101, -0.0582, -0.0906, 0.0404]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3751 right_y=0.0089 right_z=0.0332 right_yaw=0.0772 right_pitch=-0.2542 right_roll=-0.0012 right_gripper=0.0404\nstate[joint_eff]: [-0.1573, -1.1966, 7.2, 1.6923, -0.0659, -0.0659, -0.0122, -0.0068, -5.2171, 6.0239, 1.1111, 0.2662, -0.0122, 1.0476]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:521bb67c766f1fe00e2356e5fb6f8f25edb4f8c124b50357a0df4a7049da3013",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2ec785b61151ab321e7fd7f6947abc1ea985871a490a2db7c3ac79a8077ce3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7b6b6e2298c38a91e8a5d0210ce13adbc8ffd959ef7ac840efec67782ecb2d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 12.43 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3893, -0.0223, -0.0261, 0.9993, -0.0544, 1.5372, 0.6201, 0.0608, -0.0605, -0.1181, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1767 left_yaw=0.0002 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9993 right_x=0.3695 right_y=-0.0058 right_z=0.0319 right_yaw=0.0542 right_pitch=-0.2842 right_roll=-0.0154 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.306, 7.0222, 1.7509, -0.0708, -0.0562, -0.0122, -0.0342, -5.9966, 5.9692, 1.8144, 0.1197, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0116, 1.5562, 0.6132, 0.1051, -0.038, -0.0925, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3737 right_y=0.0059 right_z=0.0298 right_yaw=0.0624 right_pitch=-0.2672 right_roll=-0.0169 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.7411, -0.0806, -0.0073, -0.0122, 0.1573, -6.0103, 8.0479, 1.3846, 0.0806, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.5494, 0.6132, 0.1101, -0.0582, -0.0906, 0.0404]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3751 right_y=0.0089 right_z=0.0332 right_yaw=0.0772 right_pitch=-0.2542 right_roll=-0.0012 right_gripper=0.0404\nstate[joint_eff]: [-0.1573, -1.1966, 7.2, 1.6923, -0.0659, -0.0659, -0.0122, -0.0068, -5.2171, 6.0239, 1.1111, 0.2662, -0.0122, 1.0476]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:521bb67c766f1fe00e2356e5fb6f8f25edb4f8c124b50357a0df4a7049da3013",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2ec785b61151ab321e7fd7f6947abc1ea985871a490a2db7c3ac79a8077ce3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b6b6e2298c38a91e8a5d0210ce13adbc8ffd959ef7ac840efec67782ecb2d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QIKjgEIEhgCKkDOb0PMX41X7cSzL8N9f2HRfmVnHjTeZIDK4kzNxtTulwG5djsa2NpveVXHc67J18ri2a4j3//7JSkrTOYNd9LKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb7Qy9UGEgyrx0nGaZjhknSWtvoaDNijhQYJpjIRm+jNiyIw10/itbcGI6ipaQS5QvCZxbB+UGVnF02OySS3hZjwnroK4jEaWielxoJ1OsFnCrJ8KnCkqU8GnJZ9/uP6bQxJVs9bqNrXYRpOTaqsfFkbXBPkIoIn297uzOcdcJ2PpTTObFJ0oY+q423YmtN4O1426UyRDpzh/0Id7meWTvAMI5ZLO+SEsHx8D2O1jFF0x6l7NE5mdOzMOusNnS5FFcFrBsqgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D72S2Z9sg2x7hno6C5WTjA",
      "input": {
        "note": "Gripper closed to 0.04, consistent with a thin rim in the jaws. Lifting 12 cm to check in the overhead view whether the pink bowl came with it.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01D72S2Z9sg2x7hno6C5WTjA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.3632, 0.8902, -0.384, -0.0647, -0.102, 0.041]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3725 right_y=0.0101 right_z=0.126 right_yaw=0.09 right_pitch=-0.2845 right_roll=-0.001 right_gripper=0.041\nstate[joint_eff]: [-0.0479, -1.2103, 7.0222, 1.6923, -0.0708, -0.0562, -0.0171, -0.1846, -7.0085, 9.9214, 1.536, 0.022, 0.0513, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9572f184b770661b807f8bfc46a73890f3368e3e8f2453aa52d2cc48c034a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5a5d7e0fb9b8729823bb8c8165e7bde1f02af8bfc4e00c08ef57de9c057a71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b11570ed8c2068700564957fa152b2a7656ffe4940c2f5cee6eb0990783e8464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 10.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0116, 1.5562, 0.6132, 0.1051, -0.038, -0.0925, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3737 right_y=0.0059 right_z=0.0298 right_yaw=0.0624 right_pitch=-0.2672 right_roll=-0.0169 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.7411, -0.0806, -0.0073, -0.0122, 0.1573, -6.0103, 8.0479, 1.3846, 0.0806, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.5494, 0.6132, 0.1101, -0.0582, -0.0906, 0.0404]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3751 right_y=0.0089 right_z=0.0332 right_yaw=0.0772 right_pitch=-0.2542 right_roll=-0.0012 right_gripper=0.0404\nstate[joint_eff]: [-0.1573, -1.1966, 7.2, 1.6923, -0.0659, -0.0659, -0.0122, -0.0068, -5.2171, 6.0239, 1.1111, 0.2662, -0.0122, 1.0476]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.3632, 0.8902, -0.384, -0.0647, -0.102, 0.041]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3725 right_y=0.0101 right_z=0.126 right_yaw=0.09 right_pitch=-0.2845 right_roll=-0.001 right_gripper=0.041\nstate[joint_eff]: [-0.0479, -1.2103, 7.0222, 1.6923, -0.0708, -0.0562, -0.0171, -0.1846, -7.0085, 9.9214, 1.536, 0.022, 0.0513, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9572f184b770661b807f8bfc46a73890f3368e3e8f2453aa52d2cc48c034a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5a5d7e0fb9b8729823bb8c8165e7bde1f02af8bfc4e00c08ef57de9c057a71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b11570ed8c2068700564957fa152b2a7656ffe4940c2f5cee6eb0990783e8464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UvnBqPCqA1zKzT534RufKq",
      "input": {
        "note": "The pink bowl is clearly lifted and tilted in the gripper in the overhead view. Carrying it left toward the middle (white) bowl at a safe height.",
        "targets": {
          "right_y": 0.2,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01UvnBqPCqA1zKzT534RufKq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.6151, 1.5932, 1.4403, -0.807, 0.3073, 0.3492, 0.0423]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3669 right_y=0.1982 right_z=0.2027 right_yaw=0.1321 right_pitch=-0.3262 right_roll=-0.0213 right_gripper=0.0423\nstate[joint_eff]: [-0.0752, -1.3333, 7.2, 1.7118, -0.0904, -0.0611, -0.0122, 0.1573, -7.665, 9.265, 1.3993, 0.3443, 0.1636, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de2e319c22e81c0820e078ae5f13fe81cf23ea20e76ca5f7d42c42724fd5c89b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af35bf2fc10682ad8c42368d2ba87f6c6fc2683cd1ab52abcea2af1d5894cd45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca3bbf2059eb5ac1ad73282860865c79ba0b34026f649b175e76c8cf0dc045e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 9.177 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.5494, 0.6132, 0.1101, -0.0582, -0.0906, 0.0404]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3751 right_y=0.0089 right_z=0.0332 right_yaw=0.0772 right_pitch=-0.2542 right_roll=-0.0012 right_gripper=0.0404\nstate[joint_eff]: [-0.1573, -1.1966, 7.2, 1.6923, -0.0659, -0.0659, -0.0122, -0.0068, -5.2171, 6.0239, 1.1111, 0.2662, -0.0122, 1.0476]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.3632, 0.8902, -0.384, -0.0647, -0.102, 0.041]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3725 right_y=0.0101 right_z=0.126 right_yaw=0.09 right_pitch=-0.2845 right_roll=-0.001 right_gripper=0.041\nstate[joint_eff]: [-0.0479, -1.2103, 7.0222, 1.6923, -0.0708, -0.0562, -0.0171, -0.1846, -7.0085, 9.9214, 1.536, 0.022, 0.0513, 0.9402]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.6151, 1.5932, 1.4403, -0.807, 0.3073, 0.3492, 0.0423]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3669 right_y=0.1982 right_z=0.2027 right_yaw=0.1321 right_pitch=-0.3262 right_roll=-0.0213 right_gripper=0.0423\nstate[joint_eff]: [-0.0752, -1.3333, 7.2, 1.7118, -0.0904, -0.0611, -0.0122, 0.1573, -7.665, 9.265, 1.3993, 0.3443, 0.1636, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de2e319c22e81c0820e078ae5f13fe81cf23ea20e76ca5f7d42c42724fd5c89b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af35bf2fc10682ad8c42368d2ba87f6c6fc2683cd1ab52abcea2af1d5894cd45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca3bbf2059eb5ac1ad73282860865c79ba0b34026f649b175e76c8cf0dc045e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0woKjgEIEhgCKkCuwFUlKs/ZYKtIvKlBPz8xJ3coOMOgv4gGlFmm4gucjWL0doVFj1OLZOQE0zLpEJixtGP3i9ggpUqk+3qlnsTXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdjQy9UGEgxvyVu2tur/lb6EwIEaDHkPXxvn753f8xMA9CIwceszXJ5C11DwNTtcZCVg3OaQq3vlNPJh/ra0LajzYEqHHZ3wR5TF6J5OED5zNPVZKvEIwodbQQ4OGfeR2JGsAOn/7hj8O7hoEjse6mh7AcFYU0sBEOlMeoFURKLURhSNOp+SC3l/AnEaROTk40GaIZ05GdBMVtEEgMrMQTN5RU26c7TjbRyXbeUlXug9B7n3fax6BG9EYl7Ff75w1Ke1GZkrKyeOaqzqwUtvoqU9l6IDht6+FD0eWmgHElTfnUQV4xN+WjmjwyBj+cbzDny8FpN373wpvhNzRreVYKnkYFFvTl8VfPgmbxwZKELSL5jT42XOklAlEVIggWJIkiwPJhQoVlFfeFV6r2sXdUm9zXA+t7o+OTL0LQR33gRLBxhHhO0SXs9OVsd1WOdoWdLT/PzghlThJjaJ03e20qTBKdOTCENhXvItoFIgQbqXBMiyNC7PNJtkYk5EJTuEWI9XtXosCbxluyN0BAmgkEUvRz8uuWcyq0vCCmi01yhRyRGEN9BnhSJHrQ2Z/xv48gQ/BvnIVE1eMuDJ7+M4e3SpCb2cN86ip3Tj2F05jMJzrDPvTKDrDz1wT1BMwcd47eG7/lxxON/qYKN9D7YKD1QNiI1m61/5Bo4ffOIS3oSSsNg5Bam7fff4Qn09eif+iqt5Gb9no48RrtxfGYk/eEPuuTJlt49Ln7fIxtSloLPRz3+kzCKfilBmWW3eeQ4ASCcShhjX9TTDuKAjC2uz0dG0ThJ13bbOWY0ybMVKUy7xdjwUGFVBUKoVC/MvYcmT8Y8t/sL+7CGG5YztRyET7KVGjtqdjHjrVlFn1xVVI+aVv4SB1PxOk1f3jReuOkKUjNNUQHJ/AXQHgnoJzjLrq61bQIPpbxm2Chv+Pprdff3IciKm2vy5XRehdKq09cQgaOn1dUdWR0nEPCzvM12G/gW+saaGxi2SO8okBuYRMsahkfHqYWDEDoshd85XpUVrFvt49uBC9MgSNgctACo1e534tQyn4DqepFL3rbNLTNmbrN4wuWvJTCqa5J2XUUKfGkH56qff7gn3vhRtFq1b8u91ncWfSLSTKomSvleMczbhxOPtQUpY7rG1ZxmoGUhGi1yxc2XGwHz03dM9yoFiX7L9BEqKnob3O200Ysl6N+/owHIWyrgTfnLuwZ/OKUbf8QAz0b0c4vZwBg0j6sG5yqivKPC4mZHhYvHcx2xLS1A8Y6C+4qbhAFOv+KY4UqA+eE2OX26CvDrj+ojjaJjM8mU+w0X1MrqWGR5o0WC3yBmmVW6pXLutWPG+iI/agVJluqr1i6wx9k+/KH88Ct0MpcmD82cf6ieG/sFLZ0cP6wzna4hOC9dh1bu8q6Mit3pq3YcviOKhz2Mn9dsHieh0nYpVsr7dhchkiK/CmLA+E1/8pZMuQy39HK0M5aDCXqbfA7qULRV11P9v5PTvDWjadcYnXjMHq4p7d5ASViJ4qMSTa8MgbDrojRHE1wlS4lvJ+ECVIQ5rAe/8kuZnvZdbfzHyLyjSeOmW05PpJl8WJeF+O31LQXmnWLL+6gpgt2Egu8kj3yfemD1ICSWVHUPIPXDFghjRlpD9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fzi4YmdP95Umz1ZxFvg3EL",
      "input": {
        "note": "The held pink bowl now hovers roughly over the middle blue bowl. Lowering it partway to judge alignment before setting it down inside.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Fzi4YmdP95Umz1ZxFvg3EL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.617, 1.6028, 1.1759, -0.6174, 0.3046, 0.3473, 0.0451]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3517 right_y=0.1889 right_z=0.1229 right_yaw=0.1222 right_pitch=-0.4017 right_roll=-0.0627 right_gripper=0.0451\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.7021, -0.0708, -0.0415, -0.0122, -0.2803, -6.8171, 7.159, 1.5507, 0.1636, -0.022, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de88746a3d3f5112a96325723d17fc583eed86465b9b97153d14de2977437f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a8cef048b55c7256d93c60176a668795f019d580b2e20cdad753649bbe3a9e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73019d153d5e0dea567d50f499c7290224dedb63aa81630f2ead181ef6d10359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 9.67 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, -0.0132, 1.3632, 0.8902, -0.384, -0.0647, -0.102, 0.041]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3725 right_y=0.0101 right_z=0.126 right_yaw=0.09 right_pitch=-0.2845 right_roll=-0.001 right_gripper=0.041\nstate[joint_eff]: [-0.0479, -1.2103, 7.0222, 1.6923, -0.0708, -0.0562, -0.0171, -0.1846, -7.0085, 9.9214, 1.536, 0.022, 0.0513, 0.9402]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.6151, 1.5932, 1.4403, -0.807, 0.3073, 0.3492, 0.0423]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3669 right_y=0.1982 right_z=0.2027 right_yaw=0.1321 right_pitch=-0.3262 right_roll=-0.0213 right_gripper=0.0423\nstate[joint_eff]: [-0.0752, -1.3333, 7.2, 1.7118, -0.0904, -0.0611, -0.0122, 0.1573, -7.665, 9.265, 1.3993, 0.3443, 0.1636, 0.9402]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.617, 1.6028, 1.1759, -0.6174, 0.3046, 0.3473, 0.0451]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3517 right_y=0.1889 right_z=0.1229 right_yaw=0.1222 right_pitch=-0.4017 right_roll=-0.0627 right_gripper=0.0451\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.7021, -0.0708, -0.0415, -0.0122, -0.2803, -6.8171, 7.159, 1.5507, 0.1636, -0.022, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de88746a3d3f5112a96325723d17fc583eed86465b9b97153d14de2977437f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a8cef048b55c7256d93c60176a668795f019d580b2e20cdad753649bbe3a9e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73019d153d5e0dea567d50f499c7290224dedb63aa81630f2ead181ef6d10359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiAgKjgEIEhgCKkC+3LL4IaSacXQI56qK+OP/C3BY70s/yKIX/uBIVNxGNxG9RHo/CR35Y91BhROlb2HiXvXQ1sIH5C2jC9iBde3RMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeHQy9UGEgwAYTLVxKiQMWlI/BsaDIOZ+8o3vk54+hhr1SIwlakayDu+MjEEL616WTFhE2o0pPghD6AkqQ2uxZ96p+GXDhXe2yXNbNk/TEJzMlliKqYGNyiMX95S/aCp7LPCJ/HGoHOaw4yq/2IbQ8vwdgbKENI3C0xB/nVz2lcRzNJVc4LYXQWuYrkFPWUAr2fxi1z/SyNNiJIn/zvCD35Wao6THXO48a18B20uQPcte1TYpnDvNyunpSl4CxFzmYOgPO8PZ8sBOEcsLOdBl4PyCwrpXv+1Uz/TiMwvO7T60Qnj0bFVShxxySFy6XmWMBG7twO8rzFTJEjHEpe6ULp0FYV6j5fN8pI//3qtwT1+TbxJSUHckSv9FvCFUTkj+rl2tH3wvnu9ayLfOD2Ur7NoTjFR/l6o7Az+fvRKz2AUEW0AX4Pn7j6xjkNdOfVXf8QJoS29KbrL+6gKMl7I1kiyaRUMEixrQtCnGkaU+KTdzOHDxWvjZ2d/2dpH5KqcQv1O/0R6493X+dMoiixH7xGutJoGCUp8qHuqgM7WRYsRhWtwhXvxlWoEIJiDvU1WW8V4IeI8+bBmvI8P2CmBbnxp3RvaRNz8q9tRiVExdfupF5IFfOKhGtT8MBH5W205kBIf23s941UaKlPe11+2pGMYMOfDGdlMTDyTuAm3fcC0LH5yCGuvbqDhXp8591qhEOR3bpxW4x9tNWy3OxfOTm5OBOvCLqCWPcfWOoloIhjJd+Om8X40nzp1mqvK43lApla2Yvi0TY2ivnJ0PkX1kAQpV4j9GEE7JZaDARwkfvdFB6mrGL+8hoxeZeG7LRXMHC025Qwyujj4p2NSUDxfnVlBa0krgBl1TGb6BW4haOihcpVge5ZbSWy/yFQ2y+xy1hcP+z5RCITDnLZ3eghxICLPcy46WGxagZvuFAGN/vDWujbVWWlCRMlm9gaGGyGJZBm0l/ta1D6hnGGDaunDKyhlHjjWjM/9U6EDkBW+HWMo5Sgyj3Btyr5RadtB7/1UE+oEoYjLAgrZB5noA7fFjwhBWTTNR2R4bu42iuEdmY4S6d18+Or7VzHPYmbMIdq0vCdSTIWQ9xXiwvyQBH87v8JhK5aADATv4qy59jt9S7hxC8LUzr0xpRGvHUkQm+PsZtxIH7GQMnbvIfCxKPSFFoYG5NXI+NG3TqBlA1YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WdLiDgSsyuDN9Yf4w7RmNf",
      "input": {
        "note": "In the wrist view the blue bowl sits a bit beyond and to the right of the held pink bowl, so I am advancing ~3 cm radially and 1 cm right to line them up before lowering.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.178
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WdLiDgSsyuDN9Yf4w7RmNf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.548, 1.6711, 1.2121, -0.5972, 0.2726, 0.2932, 0.0485]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3736 right_y=0.1765 right_z=0.111 right_yaw=0.1095 right_pitch=-0.4269 right_roll=-0.0742 right_gripper=0.0485\nstate[joint_eff]: [-0.0752, -1.3197, 7.159, 1.7021, -0.0659, -0.0708, -0.0122, -0.1709, -8.1162, 9.8256, 1.199, 0.0415, -0.0659, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9c3ad5ad1301f5a595c91ce3d87dbd9c1cd8c8114d7fcd8ca9e442eaeff6b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b672a3de86581a223cfa07d697e16aa68ca160fc5d802c900971df5421fcbee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83bee963a4fb58837c020816e591c74dec73d4d1d272b99c0e0181b9c53a6029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 7.876 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.6151, 1.5932, 1.4403, -0.807, 0.3073, 0.3492, 0.0423]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3669 right_y=0.1982 right_z=0.2027 right_yaw=0.1321 right_pitch=-0.3262 right_roll=-0.0213 right_gripper=0.0423\nstate[joint_eff]: [-0.0752, -1.3333, 7.2, 1.7118, -0.0904, -0.0611, -0.0122, 0.1573, -7.665, 9.265, 1.3993, 0.3443, 0.1636, 0.9402]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.617, 1.6028, 1.1759, -0.6174, 0.3046, 0.3473, 0.0451]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3517 right_y=0.1889 right_z=0.1229 right_yaw=0.1222 right_pitch=-0.4017 right_roll=-0.0627 right_gripper=0.0451\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.7021, -0.0708, -0.0415, -0.0122, -0.2803, -6.8171, 7.159, 1.5507, 0.1636, -0.022, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.548, 1.6711, 1.2121, -0.5972, 0.2726, 0.2932, 0.0485]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3736 right_y=0.1765 right_z=0.111 right_yaw=0.1095 right_pitch=-0.4269 right_roll=-0.0742 right_gripper=0.0485\nstate[joint_eff]: [-0.0752, -1.3197, 7.159, 1.7021, -0.0659, -0.0708, -0.0122, -0.1709, -8.1162, 9.8256, 1.199, 0.0415, -0.0659, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9c3ad5ad1301f5a595c91ce3d87dbd9c1cd8c8114d7fcd8ca9e442eaeff6b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b672a3de86581a223cfa07d697e16aa68ca160fc5d802c900971df5421fcbee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83bee963a4fb58837c020816e591c74dec73d4d1d272b99c0e0181b9c53a6029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgkKjgEIEhgCKkB5z5B98+TO7E+JjAqNMExtYaHqbkZ5ikwBdonTbntS7AfZH+X6V8/70G152V0D13XMp454D5JN2LQwr+0C32BzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAevQy9UGEgwYrNezMJpXldtWS3EaDAX3TEEa+GhxK81/1iIwZOPcyCR5GHuMnWz22v6NV38OVzM/DbLcH3aErPKmFZR8jcThGawoGyG5Xy0iNCD4KtQHXuXCj3XwDKsYz0r0xv9jU53vb3OjM2BcsRKWU7Qb+bl7g8hngT5Y8KtgZ/6tZmM5NKjP+Ne7XlG9E5mD6sY3QC9Jm1GRTTfMKkPQsRg1E0QQfAJTh90+TsAI5SbKIFaYClC1XLL+/1ZAaUZO5lSRaUDsiIP0yX3QhMfV9TpMpZuJg9SEjmnm2W4qr8oB0D6AySSNB1IK9iyBnGHQfOTHEc5FKyjzx/LjGbo56XXMZfE48WD16nXEY+976DwyBVvTyxtCE4e2I7gICpnVz1IuAUq0egjcfpJdLh53n/+wMaNQcGsxE247W4pw02MrJ3crYO9rLkirsdqcBjKYQYV9UQXxZSnk5KnnNuLKEBR29Cqo73TOmn9zS2WVFzTIRxB+6jkefmoigDSEK50E0gGyAOcHLmCljFGoN49qshv3pfOi9dMzIOfI3ycZnsSEO1giSRYDhaU2Lp55N+J1qGLzfSCPD+PtvqVwgtJzxdYIWYokpC31OKECiqyGN0kZ2a+h0PsdJRfdgAs5TPdRCmV0F505RstuoWcbWQIOoaf+tcuAXYmsOnqbHyzcxkIMTudHXgSUHC/07TANVif5ZQI2pa+coB/k1e10pgxawn5W4+Luqlu1aTEttoN+WoQ+aKCgyKu6MzDkt6KQL4PWo9+Z/svinhhVSH19zUNue+2GswkAbOK93eOkqXKcZlhAw2EqJAICKTw3VExrYlWZwxaNvcInI4V2RWNJHt6kgLJoBJ9e2IqGzBHSYTkpUsaV7NzvX08WSvtVFh52vHXuWK16EU4U4jK8s0reUwVX2Ogi0t6pKHHjpwpE83ChUwhqPHDFfJHi3Uu3ZLvBAlQqI8xlwd/mw+TN1h2Rdhkf0m+Ay9ZjRvmLcQwfphFlTNDqxm7YpJ8OUeYxWjWpzXsMjGD0FCmwfIlobPM1olxbChHqfnpoABbqr3YOKvgpfKlLJpMRZVThzUHLsaZfKlsjzxaG/RCxVFWpNWcBuU633uan5h+KZaptnINDMfMHDJAYyiN5QbA/pfPtk7RA6DFJTlXgy0/cq+OCCHdXwQJqcMYCww6K5+AunNUsm8ArzRpJP8aVNj0H/R2YD6vXpu3G8uPPC+gHGgAy64wH00Dv6ev9yWq9zeNIB3HAUangQFaQ24DJAuR2xH9Me+MGlGX7qxjfN7aNa2GmXceyq8JlB1jCNop10WdqyDyb6ZSkPcYfD78Ft4+jdPD2Ze6IhfiKlBLqPjqpFHO8aAJGx07IcuHNAQAfobTxvn1up/S5aPO6T1iJh1O9zVVLVULqMiyFQL6NMwLdG5kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017gNaa72u2EKX41U5PzASVY",
      "input": {
        "note": "Moving right shifted the blue bowl further left in the wrist view, so it is actually to the arm's left of the held bowl; stepping 3.5 cm back to the left and 1.5 cm out to centre the pink bowl over it.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017gNaa72u2EKX41U5PzASVY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5945, 1.7809, 1.3148, -0.6331, 0.2783, 0.3065, 0.0509]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3813 right_y=0.2035 right_z=0.1001 right_yaw=0.1343 right_pitch=-0.4629 right_roll=-0.0921 right_gripper=0.0509\nstate[joint_eff]: [-0.0205, -1.2923, 7.1043, 1.7314, -0.0806, -0.0464, -0.0122, -0.3077, -9.5248, 8.7316, 1.0232, 0.315, 0.1832, 0.5104]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aecd3c8416d930f1c91d80847a333d8383e746364f6d11536e931b68d166ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0665aabab11756d35c170cec78cc3511cb1db48c5cf26ea94a6304d358a3856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad208e146f1f75dbd92ac4ff2d78083a45913ca68750394b2cc758dae68779e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 9.008 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.617, 1.6028, 1.1759, -0.6174, 0.3046, 0.3473, 0.0451]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3517 right_y=0.1889 right_z=0.1229 right_yaw=0.1222 right_pitch=-0.4017 right_roll=-0.0627 right_gripper=0.0451\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.7021, -0.0708, -0.0415, -0.0122, -0.2803, -6.8171, 7.159, 1.5507, 0.1636, -0.022, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.548, 1.6711, 1.2121, -0.5972, 0.2726, 0.2932, 0.0485]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3736 right_y=0.1765 right_z=0.111 right_yaw=0.1095 right_pitch=-0.4269 right_roll=-0.0742 right_gripper=0.0485\nstate[joint_eff]: [-0.0752, -1.3197, 7.159, 1.7021, -0.0659, -0.0708, -0.0122, -0.1709, -8.1162, 9.8256, 1.199, 0.0415, -0.0659, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5945, 1.7809, 1.3148, -0.6331, 0.2783, 0.3065, 0.0509]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3813 right_y=0.2035 right_z=0.1001 right_yaw=0.1343 right_pitch=-0.4629 right_roll=-0.0921 right_gripper=0.0509\nstate[joint_eff]: [-0.0205, -1.2923, 7.1043, 1.7314, -0.0806, -0.0464, -0.0122, -0.3077, -9.5248, 8.7316, 1.0232, 0.315, 0.1832, 0.5104]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aecd3c8416d930f1c91d80847a333d8383e746364f6d11536e931b68d166ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0665aabab11756d35c170cec78cc3511cb1db48c5cf26ea94a6304d358a3856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad208e146f1f75dbd92ac4ff2d78083a45913ca68750394b2cc758dae68779e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAYKjgEIEhgCKkAgCcdo4onJ8o8Dy7z+EPpThC6/9YRSxGFYeli70wjx8UMF3qarG03I8faCwC2iPJGwUcpheVdSDJWy/Dz657mPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfPQy9UGEgyzexTpXXJa/KBCbpYaDLWHZm1Q5IvSYZ0S2SIwGDtfcj0xiNyTkV9ox4GEM8mbXuSr6LnFNIJ/9KSKtPUMCWmvDU8YGNPdVF9OmdUkKuYEtiCqlfrEt/wd7vUWnd1WL8KYggz0xKe7AC5h7QpsreOzYFl5kWcIimnVUHuvI13BeyhsoueFYNfYrBlKhi1rRlKuX0lgUkO87ETCby1kHwcV2gOyKn1KCVIQXXbp72zn/BqmcYOtobxSPGdmZQBbqvDFoMqahVdJQW1XNZwbuYn/3GAeoPQevT2sCdsWR26EVVlGPi+CyJ1z2Lpvpt/l1ffLfcabgzNrV/2x3xq9t7ftoWItIwgE+wn3BXaRIJvEXLecrIB451i/xBzIly6CVPcA/hMSPvtTJ1pVYBjZvJLTW0N+HPrD3SpucqzY+mV5wtI4KblptkIgRePcuvjRtq/KcakOG+RWW8xYAnI06dQ3lALRl/K+ltDGGBzeP7XqBQOpfaQ3OoTIaq++IAHE2+D44UApGdEZRvdv528NrLI8wGCKpwmqTXQMBBvz6URZEPywbWHr6cgqVqvEKlPokeM3ifxAYCOxI8kqVHtpCeshbzYnRDAEC6bGDImb5VNPRN8DgFrTSA4QEtG3A+xct9p+MS8Fp1IyWhAImoOA3fMXe8Wx0xIymUT4BOCyEVutBZGciCsiWJwXylv1CCfqoGzXU0gjCiE6UlL13d3P7+iFcNH3serGQke251zE9i8q3CKJDyY8XDrgYl/q8fbyF0Rn/r2jWWcqgPDgufKWxz79CIjOOgv5KxHX9O+4o5OEOObo3fltIzDotTaf5wOdEXqACJIuGumhilbMDCxL8dqEQLGEBzkYU5MoDshgfmK4qnB+fLI3HAjArN6FxDXE3g8DasDLSD1tC0ZCdl5EHefH2We21uAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nmst7Eva3sW8K6tjX9N2vR",
      "input": {
        "note": "Lateral alignment looks close; the blue bowl still appears further out (higher in the wrist frame) than the held pink bowl, so advancing ~5 cm radially.",
        "targets": {
          "right_x": 0.43
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Nmst7Eva3sW8K6tjX9N2vR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5312, 1.9194, 1.4601, -0.6662, 0.2493, 0.2558, 0.0539]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4171 right_y=0.1987 right_z=0.0877 right_yaw=0.1211 right_pitch=-0.5006 right_roll=-0.1065 right_gripper=0.0539\nstate[joint_eff]: [-0.0342, -1.3744, 7.0085, 1.7265, -0.0855, -0.0708, -0.0122, -0.294, -10.2769, 8.9368, 1.0867, 0.0317, 0.0464, 0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b7e39085967179b500babd87a70492fca19a941902bfe3bab93c1f5c70dd9e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d46f513512afeb3b117d362f565a4a764c0f33c716fb8b6a3250c177a60c75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:026deb0eb5244e23d589e53b08e1ef49d3710a85a8b4b24720a676ba4b642b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.182 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.548, 1.6711, 1.2121, -0.5972, 0.2726, 0.2932, 0.0485]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3736 right_y=0.1765 right_z=0.111 right_yaw=0.1095 right_pitch=-0.4269 right_roll=-0.0742 right_gripper=0.0485\nstate[joint_eff]: [-0.0752, -1.3197, 7.159, 1.7021, -0.0659, -0.0708, -0.0122, -0.1709, -8.1162, 9.8256, 1.199, 0.0415, -0.0659, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5945, 1.7809, 1.3148, -0.6331, 0.2783, 0.3065, 0.0509]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3813 right_y=0.2035 right_z=0.1001 right_yaw=0.1343 right_pitch=-0.4629 right_roll=-0.0921 right_gripper=0.0509\nstate[joint_eff]: [-0.0205, -1.2923, 7.1043, 1.7314, -0.0806, -0.0464, -0.0122, -0.3077, -9.5248, 8.7316, 1.0232, 0.315, 0.1832, 0.5104]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5312, 1.9194, 1.4601, -0.6662, 0.2493, 0.2558, 0.0539]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4171 right_y=0.1987 right_z=0.0877 right_yaw=0.1211 right_pitch=-0.5006 right_roll=-0.1065 right_gripper=0.0539\nstate[joint_eff]: [-0.0342, -1.3744, 7.0085, 1.7265, -0.0855, -0.0708, -0.0122, -0.294, -10.2769, 8.9368, 1.0867, 0.0317, 0.0464, 0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b7e39085967179b500babd87a70492fca19a941902bfe3bab93c1f5c70dd9e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d46f513512afeb3b117d362f565a4a764c0f33c716fb8b6a3250c177a60c75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026deb0eb5244e23d589e53b08e1ef49d3710a85a8b4b24720a676ba4b642b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1ggKjgEIEhgCKkDuv9mzsxi3zkbwRI6N6gkDHScb4NG/aT3szD6rONg8BeahvBO0QB0UbzHwduF2PsLmf3vzgYhKGMbfR8tNyjULMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3Qy9UGEgzSMU8KjwXh8p55vrgaDEoYYZU7M9Sis77swiIwDXR70VUzGJ4LEmkj+3pFiCH+gsuGs2NUvnTAThJDqJqE2MnhE5SRX6ZjoU1SE8bRKvQGgwC5ZOhT3kBQdtMRCLtFxdh3oiiqCVqDyu1R7TFrLEGsM2UZP8VwDJkzETUL0bh7Xj44VAXXWw4TI9hefTmFSmouSOvylZwQGLIBEkTD99AojSRglfMg6UnrG9P+tnXTRS2rjqxKLrSTt5Ovc880gWuo8Fa5MLVL6aiLi2KnnA9Ub3OZIi1op+LLmO7PWgpo1Kb9Hs5P91I5Bi2v1XA7cqxHOJw1qV7XNL+sOm9yR7qLDWPZA9lH5ahaOPgvOS+7sRJHhu+XLSOw3DFg3uPq4pVhDk32RJtT7wiFGWE+hFs0mtVe3s2ssvF0k4QjCNO99fjMnVSn47fzGrAK83oQp4UBxirTwNIw/X0sBYXa9jF1e8//jWH5/9Q3aWEF4XhOIDpSKDM++7aD0srTDQSw+7+iYqq45CKl8HRHPvfUifst7wcxSNM0RN6+Yj23wpcO7BzbRCMoU8gXiRWIzIlG8MWUt1ULPBwcQwLeycwc68/trg/PkKFuk41YYW2iGEbj0iRpqjzj0MFsdft+nlsuyzqTsI54Gn+eaNZpPtGt4U+MRpmuNJnlL+YO661u6OlImZVp2TRTWX96U1nqn4DdnrTNSaCqOOHuKc4QEbdBqR1RGQRSG3VdFDFKMR5ghkSx7V37Af9BUvtPC3+sy5moly9ygZGVrxQJYp15eENSbEQHiEtEUf5qpa1P8acmfOttp0351gVtLdM506XnQyHUp2HOftlxqaX9u+wfhZOeXXH1ROt24pB9CXhykBkNHkHdKDouNXtoBrdBxtYy3ZmbDIVo5deDxLPPC4ZgZ2MaIpf5huuX1BeZE1WKGQp/cjxLpD1qJyRhHfIWIMcJoLgQbjyJWGa+fW3X00B9OqNvUIUivARadewBhvVrun4fLhjmcM6/8sM+r5RWRWLjB1KeSWIF1XpzByE/YbDRc8zksVZiowyF+Q2zNTKP7VObsdWt8lTti3wzsYdUlE95U071c1uZwkw3B7WtJLxBEX9rfOVprn6KT2StYs7raZa3YX+jlhAjwl4iSCeYs3Z9E2YilMkGGY6kgFkwRIMZzjZjEzxavGCDA13Xb0MVIBdPVj4VxU2o93HBmHIReirTA1FFbCRBeErdeUV8fJJXosiuumCd1xaXBP0spvXHyDshRxzZNSZ1l1NswjM1x7DihrMRjasc2kMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nx57pxJ7NfJP12RC3mkgdT",
      "input": {
        "note": "The blue bowl has gone out of the wrist view, suggesting the held pink bowl is now over it. Lowering to set the pink bowl down into/onto it.",
        "targets": {
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Nx57pxJ7NfJP12RC3mkgdT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0223, -0.0261, 0.9993, 0.5282, 1.9438, 1.3758, -0.5781, 0.2466, 0.2478, 0.0571]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9993 right_x=0.4124 right_y=0.1948 right_z=0.0568 right_yaw=0.1207 right_pitch=-0.521 right_roll=-0.1177 right_gripper=0.0571\nstate[joint_eff]: [-0.0342, -1.2513, 7.1726, 1.7411, -0.0513, -0.0562, -0.0122, 0.1983, -8.8274, 6.4068, 1.116, 0.1099, 0.0171, 0.359]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b85b0319acecc98ea3cb439ce75ff046f84a826937a52152c51ac21c7ebdf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d66c9d608fbe173f4c9b3c0e3d3da235be153f31b7c19faa719de97aa6f0e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a567f6c652f91198c97375914b50af1608f90558b7e45f76efe0a5bdd3824680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 3.981 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5945, 1.7809, 1.3148, -0.6331, 0.2783, 0.3065, 0.0509]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0005 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9993 right_x=0.3813 right_y=0.2035 right_z=0.1001 right_yaw=0.1343 right_pitch=-0.4629 right_roll=-0.0921 right_gripper=0.0509\nstate[joint_eff]: [-0.0205, -1.2923, 7.1043, 1.7314, -0.0806, -0.0464, -0.0122, -0.3077, -9.5248, 8.7316, 1.0232, 0.315, 0.1832, 0.5104]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5312, 1.9194, 1.4601, -0.6662, 0.2493, 0.2558, 0.0539]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4171 right_y=0.1987 right_z=0.0877 right_yaw=0.1211 right_pitch=-0.5006 right_roll=-0.1065 right_gripper=0.0539\nstate[joint_eff]: [-0.0342, -1.3744, 7.0085, 1.7265, -0.0855, -0.0708, -0.0122, -0.294, -10.2769, 8.9368, 1.0867, 0.0317, 0.0464, 0.3004]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0223, -0.0261, 0.9993, 0.5282, 1.9438, 1.3758, -0.5781, 0.2466, 0.2478, 0.0571]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9993 right_x=0.4124 right_y=0.1948 right_z=0.0568 right_yaw=0.1207 right_pitch=-0.521 right_roll=-0.1177 right_gripper=0.0571\nstate[joint_eff]: [-0.0342, -1.2513, 7.1726, 1.7411, -0.0513, -0.0562, -0.0122, 0.1983, -8.8274, 6.4068, 1.116, 0.1099, 0.0171, 0.359]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b85b0319acecc98ea3cb439ce75ff046f84a826937a52152c51ac21c7ebdf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d66c9d608fbe173f4c9b3c0e3d3da235be153f31b7c19faa719de97aa6f0e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a567f6c652f91198c97375914b50af1608f90558b7e45f76efe0a5bdd3824680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAUKjgEIEhgCKkBKnEGCysLNS32wxeFKCjyVWqrcrN4D7UxW0k09Jv5b7scsCDQbK6rLsMAQ+v3BpEDAeI4/FKuiGtXKaGwO+lxLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYPRy9UGEgxVshjOl5llclofI/AaDA2DvUONTGBkhzHXSCIwWvCgx7ujXHw00dZ7H+G2h/kIn3zDCIa7SpadniUWE6cRHvJKOn2eFcXA9noSwS3qKqoD19Ercz9G19hSgjLTvpUbXHg9DlHvDzJZY59P/cRJ8NnzQuKyTBCxK/WjDS7lefFHHcQWeQ8rZiwnkNZw0NQR5K88K6af4KRPaXsLviOOZkpPTwFWEXqCRwOJ50miazFy2fas1HqAIZHYXXjzF+kPGHT9psaYqKXfo+OC86JcxvJfulV95shCVd/jCV65n6+/l9K2LeJOLb2qZdxqIFjP9f6a8w+D8BtNnKea5FMSKqDLUChqkvc14LPXC/+Atf5LktxyhMZuaEHD8BhcojbEpSrg2dPC+U1KPmgDgCBInbfG/QMBP+GdH+LQYLLbApqZdiUxa3stJbJBX9ZBuyNjUW0cfz+/8IRI9JgQPVERJNxfIUdfrxt92mAsWBL+CwTCmtuZjiOfJv+85Z4CW9tS35LzxnKhQ1b4dAhaQBlnOcKLwmrb6JWyMELhLeL3jRxq6lgfqaXPHb8NdK2Wm4+6eYVMMeKKdmQxSBoySV0R95FvCqE8556PS2olLtYs4kBKulKVpHVl8OrWTtom+rOaU9oTSgvvFF2K9CpHJ+OIcMT/tBm27UHwKZ9UGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L2PFrUi8wJ7PfN5WXBA6fz",
      "input": {
        "note": "Pink bowl appears set down over the middle purple bowl; opening the jaws to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L2PFrUi8wJ7PfN5WXBA6fz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5282, 1.9472, 1.3651, -0.5797, 0.2459, 0.2409, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4091 right_y=0.1931 right_z=0.0516 right_yaw=0.1221 right_pitch=-0.5361 right_roll=-0.1278 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.1282, 7.0496, 1.7314, -0.0855, -0.0366, -0.0122, -0.0615, -10.5231, 6.9812, 0.9939, 0.0952, 0.0171, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:305d96ceb635364475898047693bd254de731e6f3cb79da28ad887f33c625e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b9fb2d1af56ea2aa91bddc3a64fc5f63f10cfc717a146ffee111fc018849ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6dec8b15b3ab944b143d3738df3a1cda1509a179fd65b0cbccf70c8e43a72dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 10.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5312, 1.9194, 1.4601, -0.6662, 0.2493, 0.2558, 0.0539]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4171 right_y=0.1987 right_z=0.0877 right_yaw=0.1211 right_pitch=-0.5006 right_roll=-0.1065 right_gripper=0.0539\nstate[joint_eff]: [-0.0342, -1.3744, 7.0085, 1.7265, -0.0855, -0.0708, -0.0122, -0.294, -10.2769, 8.9368, 1.0867, 0.0317, 0.0464, 0.3004]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0223, -0.0261, 0.9993, 0.5282, 1.9438, 1.3758, -0.5781, 0.2466, 0.2478, 0.0571]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9993 right_x=0.4124 right_y=0.1948 right_z=0.0568 right_yaw=0.1207 right_pitch=-0.521 right_roll=-0.1177 right_gripper=0.0571\nstate[joint_eff]: [-0.0342, -1.2513, 7.1726, 1.7411, -0.0513, -0.0562, -0.0122, 0.1983, -8.8274, 6.4068, 1.116, 0.1099, 0.0171, 0.359]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5282, 1.9472, 1.3651, -0.5797, 0.2459, 0.2409, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4091 right_y=0.1931 right_z=0.0516 right_yaw=0.1221 right_pitch=-0.5361 right_roll=-0.1278 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.1282, 7.0496, 1.7314, -0.0855, -0.0366, -0.0122, -0.0615, -10.5231, 6.9812, 0.9939, 0.0952, 0.0171, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:305d96ceb635364475898047693bd254de731e6f3cb79da28ad887f33c625e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b9fb2d1af56ea2aa91bddc3a64fc5f63f10cfc717a146ffee111fc018849ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6dec8b15b3ab944b143d3738df3a1cda1509a179fd65b0cbccf70c8e43a72dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwIKjgEIEhgCKkCgLRIkYOjRdftKxvrmiYmvMErakqzNhYGNcjDJ7jAz0u7laDwMhVXc3aFLHyN5EEyUTr45sPR/RQ5uPPtDRjpFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYjRy9UGEgxJzwlloYqmy552b9AaDNPnmqoJ5apJ8ixHZiIwHX904/jVaDd8kOj5Gq4wwsZR9uKBj0YcXn5n2WCYEq70xtWRuK6rSzDfVV6qMDt5KkasKcnpjucCqoXSOhI6SHccrY7JixZajoXu2Y7/hQnPSrM+XpTDJLr1K/D9/lKwvfF5JAiUzsWqahhbsq9lOKNchFSD5kASGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015LD3sLb6UJT5m3hfQHBSKX",
      "input": {
        "note": "Bowl released; retracting the right arm to home-ish pose so the overhead camera can show whether the pink bowl nested on the middle bowl.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_015LD3sLb6UJT5m3hfQHBSKX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.0151, 1.3479, 1.457, -1.2232, 0.046, -0.1986, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9993 right_x=0.3074 right_y=0.0001 right_z=0.2347 right_yaw=0.0826 right_pitch=-0.5522 right_roll=-0.1359 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.707, -0.0708, -0.0513, -0.0122, -0.1162, -5.7778, 8.1846, 1.1062, -0.1001, 0.0073, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb8859d6c80145b522aa3bda857a7b135f646a382034462cc130030e22044c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9966b23e0591b7139bd062779b588dfffce2708ba71875ea01ec43521799062a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74a6de53a5eb3d6f2f0bcb200d75bc03216181abddd0f19ee9cf4b7d7e1eb5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 10.17 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0223, -0.0261, 0.9993, 0.5282, 1.9438, 1.3758, -0.5781, 0.2466, 0.2478, 0.0571]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1762 left_yaw=0.0002 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9993 right_x=0.4124 right_y=0.1948 right_z=0.0568 right_yaw=0.1207 right_pitch=-0.521 right_roll=-0.1177 right_gripper=0.0571\nstate[joint_eff]: [-0.0342, -1.2513, 7.1726, 1.7411, -0.0513, -0.0562, -0.0122, 0.1983, -8.8274, 6.4068, 1.116, 0.1099, 0.0171, 0.359]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5282, 1.9472, 1.3651, -0.5797, 0.2459, 0.2409, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4091 right_y=0.1931 right_z=0.0516 right_yaw=0.1221 right_pitch=-0.5361 right_roll=-0.1278 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.1282, 7.0496, 1.7314, -0.0855, -0.0366, -0.0122, -0.0615, -10.5231, 6.9812, 0.9939, 0.0952, 0.0171, -0.2173]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.0151, 1.3479, 1.457, -1.2232, 0.046, -0.1986, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9993 right_x=0.3074 right_y=0.0001 right_z=0.2347 right_yaw=0.0826 right_pitch=-0.5522 right_roll=-0.1359 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.707, -0.0708, -0.0513, -0.0122, -0.1162, -5.7778, 8.1846, 1.1062, -0.1001, 0.0073, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fb8859d6c80145b522aa3bda857a7b135f646a382034462cc130030e22044c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9966b23e0591b7139bd062779b588dfffce2708ba71875ea01ec43521799062a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a6de53a5eb3d6f2f0bcb200d75bc03216181abddd0f19ee9cf4b7d7e1eb5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1gkKjgEIEhgCKkAvRhCGBDL908oD/EMvjALcbsbIPjpIvONdf26ytn4dGAjdX3vgKub72bhT3Z1Rjt81el1k+Gzph8sMbdQuX/ZgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZPRy9UGEgyFN9D9pNcmN9XaICEaDEFXeWWTBbeTnndz2yIwBj+bNqq/MAt9KMi/aKTREk6GG5QHH1dEic+xUuBOxjkWoJjjQkmpOZsuylF4rxmiKvQHliGaWU2sYNt3StqM33Dz7DyAVntSpc9Yqs0OPAY+suSMWS19kolcarqKCme2H0oysJLS7NkWx3vlwpzZFHXRXR0rdo+BRRYMrf0r4/fZ9heVOZ2NO8Yll4W6hLIcHGHXeb1Fy7YES1SgeSfVes/kW9bi86zlaHJ2YrZP/VKm7FuEHkn6pk/IyHegWCIr6CQPO5PSXiimK67jiRz9gA8FYKuRUH36253gLVLSYzB3ObnemhhohJ39MOajFig5GWfFOArERBMKC98i8Btdis1Q+kFjONGI12rvvvnRRI0yUeYWJbC3a9c9PUZHOwTICvrhfTEve96Ip3cFkSCteGAUEVjwQd37bAMFIwmigGJVwUIELf9o4JSawmca86nJyNfWj660YSBNqolRGz16FMUvRtFA8m9KBJIjIusnoDWCpgXVs4BF2rkeN8z1R8hnt2IuJlnDvcQgXxGhzBgCYaK9NjhrEyVHxhhr07a+pguBwESHZgpO+Mh7xmO2eLtOrkq9Up3CSJBY3F27lExfdX6JhtPKGoxfMDQPUZT2dbayZFAcyCu21ahyOAVqMr78kF4sAkEHCsQyhJwRYPj2uXoXRxgG2auNYzXG3t3yWlac5DOTye0Q9dlh3m9DOZlIR6CvPQ5zI53+lQ+g9lUnsTgqi42Vso+Gv5NhuCt8vJlcyaZDDGaJvG2H+I1TpqvnPKElRJ+E9Sl2YXRWQt6/bZhkz+TaaOKSJXQf57lG8q69/A05SFruUaWDBldopCyjWoVDwFmNxa/Mb3L9ZyQ1eCFWO1sFCL5CIPZ+tACITILv38j/4ZqbX1L799fjDJBzjj29UBXSePCX03jO8me17UWL42N83H091PwN9PIb/T51q38uXbIcN4WjWC5VsIAckHzFJp8jdQ5xiPAzezMgMQfBEWaEpqHCV6erYlVDKZ1I9Fv+kHvFOEUcWFUCYkfeRUHdMQKYFjdtwlqpfWaJay826K3VpG4O+nTO08kxfYSXQG92/CA3wlCLIh56ZoVyQXLsusriAkgHjESMLPR/sttfBfjzdac8fb5bgDtrSdjsmla2JWcR8WC86BvhcLcGNE6BYYUXGp9PaVG2PZz15dGon3k80vCjuIcLNbgs8PFc/7D/f5Pb5BEQQ6Rdb+M5CqQjJAvldXni2EeAIJNEV3xsrFXm1avUmfUMyCvp2WGibTl7dGUJZpEy9qhah4X4fvimXMpXnkPgvvDW5FB3jU3gZnZ92KGgoI8f5fOyW9O7Lf57sj85mS0AAFpfKkcR2M3gvzbIRj58oDmV3wWvT0APh2AhhLjI9jbc0kuJoD1tAFcQZI/+o4MW1jFAoCssBvXrjVcjRhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SKyfT2v3nAxt21yXRWS28H",
      "input": {
        "note": "Pink bowl is now nested on the middle bowl; only the white bowl remains separate. Moving the left arm out and right toward the white bowl, which sits right of the jaw column in its wrist view.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SKyfT2v3nAxt21yXRWS28H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.231, 1.1645, 0.8207, -0.3309, -0.1734, -0.1371, 0.9993, 0.0147, 1.3525, 1.4574, -1.2491, 0.0429, -0.2165, 0.9965]\nstate[eef_state]: left_x=0.3556 left_y=-0.0486 left_z=0.1761 left_yaw=-0.0234 left_pitch=-0.0947 left_roll=0.0084 left_gripper=0.9993 right_x=0.3022 right_y=0.0004 right_z=0.2307 right_yaw=0.098 right_pitch=-0.5834 right_roll=-0.1389 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -4.506, 9.0051, 1.7607, -0.1343, 0.0317, -0.0122, -0.1299, -5.0256, 5.9692, 1.2869, 0.0415, 0.1538, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5018c1c3d1506e2ea52d6292fea31a46a9487770a577001e7d391c49ace5b74d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2626711086c47c4a3f3cae49769fc51aca2427c95eae762dff38abbe02de9ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7b9a68500f7e5d99af40b62819b1060fe78ffd3e1ae24476c8c754059952b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.545 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.5282, 1.9472, 1.3651, -0.5797, 0.2459, 0.2409, 0.9954]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0005 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9993 right_x=0.4091 right_y=0.1931 right_z=0.0516 right_yaw=0.1221 right_pitch=-0.5361 right_roll=-0.1278 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.1282, 7.0496, 1.7314, -0.0855, -0.0366, -0.0122, -0.0615, -10.5231, 6.9812, 0.9939, 0.0952, 0.0171, -0.2173]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.0151, 1.3479, 1.457, -1.2232, 0.046, -0.1986, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9993 right_x=0.3074 right_y=0.0001 right_z=0.2347 right_yaw=0.0826 right_pitch=-0.5522 right_roll=-0.1359 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.707, -0.0708, -0.0513, -0.0122, -0.1162, -5.7778, 8.1846, 1.1062, -0.1001, 0.0073, 0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.231, 1.1645, 0.8207, -0.3309, -0.1734, -0.1371, 0.9993, 0.0147, 1.3525, 1.4574, -1.2491, 0.0429, -0.2165, 0.9965]\nstate[eef_state]: left_x=0.3556 left_y=-0.0486 left_z=0.1761 left_yaw=-0.0234 left_pitch=-0.0947 left_roll=0.0084 left_gripper=0.9993 right_x=0.3022 right_y=0.0004 right_z=0.2307 right_yaw=0.098 right_pitch=-0.5834 right_roll=-0.1389 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -4.506, 9.0051, 1.7607, -0.1343, 0.0317, -0.0122, -0.1299, -5.0256, 5.9692, 1.2869, 0.0415, 0.1538, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5018c1c3d1506e2ea52d6292fea31a46a9487770a577001e7d391c49ace5b74d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2626711086c47c4a3f3cae49769fc51aca2427c95eae762dff38abbe02de9ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7b9a68500f7e5d99af40b62819b1060fe78ffd3e1ae24476c8c754059952b5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS2QkKjgEIEhgCKkBGhl5w3+/wSBobWzLl4O7TnmThTPcke7yb4Mi16STsFx0Td7+HWSkrJ7l+3By71UUc7CuNchoasIiE2G6HvJz3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ7Ry9UGEgyLRQMrnQJTAYS47q4aDECHCEeKoombAZQkQyIwibFKFEyCDMK2sxmyTWB1EE7f8GLSRcgd8Qo+K0Liv6eeo32ygUVkyb3KEmqdeeALKvcHOo7UyAOp2LZ9wxow/VEWh45hhoN4/MQCBfwGXoFjjPo1QOrCSdvXhpX0B0MSfTY6Ce051KACnkrD+umBR9erNAW4maA4XLeVVY6lO0mkG6XsTh1tLsvlAw80dy91A9GzOHSaSYMhZ5V8zfDmMgx6TGNXD2B5sw0EoZG5pFANMPns4hnHKq3SMxYXSH5bWSbacAYXI21vNQgiILWi9PQYRfaDg552NiyRDdhOhm9zg5s1Ib8ljtnL/ssR4znbOnJ9hoYGUi9T5GWLoR11apuqdFZv5sU3MXt44VeG+QMIgy6wivOdRDXnqwyIYoeYnZrkOwKVFtiKR2GZUkk1MSLMzlU8gDkC3oCln0AqvOrM4EKrD0qUnNf+H7rqN+GbZiJrZHSJMBFQ29uVSJC/Giej1vNJOFenx8g0dR5APZvCwj5BqDxYTLJd7jF5fuF46+kA0x8+bJUHxuTopXYkQAtgIbRqks4vBuC+bp7v5AErI0sN5D3+1mw+RPsuBYnb+tHz9qwqQjISW1okryZdVJSqGrGpMavkOMi5Uh8QJEt6N98doAD0msXXmYHYXBhK2jz3M1wSZUEVyRwwAUzGM2V30FXIimxf92yRakfMYv6r0jUsLKIvcapiKaEOPruevcxJp+TX9packOALuddr55pQmuBBJIAZYbvthfNjs9kYMn/O4ieQnuNWJAQ66tSEp5SVnraj1tgeUees5t+wBKB5D4TiSG7hc2MAcBrzkJmShd2tbAoGxxfMIc1tRUCHieBHyxmoFAsURaFICaj8eKPwwkz8UCUqt1f5boIu0XZFfTBjY3wjbCWl1FSAggocJ4UH9rsgtkYZJdQ7lpFaP2kJ3dgp2mcXUOVmrT1tJiQx5sq1KTUgjZdb+uXJgQBYCDegHfXyPCca9PRDiXvPaei+swDu7YUtTFxK3hzPWDfOUAutkuCD7n87Bq0ouhS+whxbK14QamQFsm8qxKMi54q5JTZ3NcHlO/RjSjV+KQrC9RIEqCrjvltYuGxMEStvUYvY35sUlPT1mKLnfg9j/WGsgKurkRYhh4FLfA6fP4n/Sc4sCB7AVXYx9aQ/TufrLXUF+M4sZT+KKWcPaXhxg9bGBdESqqNnJpGgr5gntt7Sri4sdwGiui9fVPvj6iSYY6Jbi/JmAOli53KsGpaubZncClbiOWmOHlseoI7CiJc1AJHOS5qTIzU3aZlqQrP0ry1LjfKSFBzUvtdsEpGeWubBdUpQrCa9kjElZiQczhT7lm2URod5SVdvkMxKJkrZFkuEX+EoR3ZCfdGT/9/qB9XZ0DH5zfZd5Efh/yS6r9PWCRNMGVKmhS9O2B/0jfDh8SLhsJOET5rZPRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U1pvR28hdxeyywd9dQooZk",
      "input": {
        "note": "The white bowl sits centred about 4 cm to the arm's right in the left wrist view; positioning the jaws over its near-left rim (arm's +y side) at a safe height.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.03,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01U1pvR28hdxeyywd9dQooZk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1375, 1.28, 0.8696, -0.3115, -0.1356, -0.1127, 0.9993, 0.0151, 1.3533, 1.4574, -1.2537, 0.0429, -0.2142, 0.9965]\nstate[eef_state]: left_x=0.3772 left_y=-0.0245 left_z=0.1603 left_yaw=0.026 left_pitch=-0.146 left_roll=0.0122 left_gripper=0.9993 right_x=0.3012 right_y=0.0005 right_z=0.23 right_yaw=0.0972 right_pitch=-0.5886 right_roll=-0.1372 right_gripper=0.9965\nstate[joint_eff]: [-1.0598, -5.9829, 10.4684, 1.7998, 0.1148, 0.188, -0.0122, -0.0615, -4.1915, 5.9556, 1.0476, -0.0024, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db2856afe069e96ce11f0b9450dd7a7056d514dcc0748cc34df960d686070bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914c9c699be20618839f971c160cf57f8bb8fce0438ef95a804eb0808cce7f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:964b9e9324ad67fa5a68324a3dedba8cfe00d06053c4b80253ac0de70409e603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.434 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9993, 0.0151, 1.3479, 1.457, -1.2232, 0.046, -0.1986, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9993 right_x=0.3074 right_y=0.0001 right_z=0.2347 right_yaw=0.0826 right_pitch=-0.5522 right_roll=-0.1359 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.2923, 7.0085, 1.707, -0.0708, -0.0513, -0.0122, -0.1162, -5.7778, 8.1846, 1.1062, -0.1001, 0.0073, 0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.231, 1.1645, 0.8207, -0.3309, -0.1734, -0.1371, 0.9993, 0.0147, 1.3525, 1.4574, -1.2491, 0.0429, -0.2165, 0.9965]\nstate[eef_state]: left_x=0.3556 left_y=-0.0486 left_z=0.1761 left_yaw=-0.0234 left_pitch=-0.0947 left_roll=0.0084 left_gripper=0.9993 right_x=0.3022 right_y=0.0004 right_z=0.2307 right_yaw=0.098 right_pitch=-0.5834 right_roll=-0.1389 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -4.506, 9.0051, 1.7607, -0.1343, 0.0317, -0.0122, -0.1299, -5.0256, 5.9692, 1.2869, 0.0415, 0.1538, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1375, 1.28, 0.8696, -0.3115, -0.1356, -0.1127, 0.9993, 0.0151, 1.3533, 1.4574, -1.2537, 0.0429, -0.2142, 0.9965]\nstate[eef_state]: left_x=0.3772 left_y=-0.0245 left_z=0.1603 left_yaw=0.026 left_pitch=-0.146 left_roll=0.0122 left_gripper=0.9993 right_x=0.3012 right_y=0.0005 right_z=0.23 right_yaw=0.0972 right_pitch=-0.5886 right_roll=-0.1372 right_gripper=0.9965\nstate[joint_eff]: [-1.0598, -5.9829, 10.4684, 1.7998, 0.1148, 0.188, -0.0122, -0.0615, -4.1915, 5.9556, 1.0476, -0.0024, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db2856afe069e96ce11f0b9450dd7a7056d514dcc0748cc34df960d686070bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914c9c699be20618839f971c160cf57f8bb8fce0438ef95a804eb0808cce7f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964b9e9324ad67fa5a68324a3dedba8cfe00d06053c4b80253ac0de70409e603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AQKjgEIEhgCKkBoJ7q4oO7ZKOgubZ6c2kU4ic6Nd1xaz4+sCXA8RFWPJOPH6cttLz/KPUZRKlaOYY93SZtKxtfVMYy4SNgrW+m5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaTRy9UGEgwVtnWWb+dFn3BLepUaDOJrfPIq384yXpr+OCIwS2gwOgUtlLX5dPY/KP+0vjIB+EgciSsyKbb9f2Up1/mR/akXmWXABIwaJk1oBzw8Kv4CLQlreuhCyybqXPkmLyKoBHQeaaHeAfbt3VJVoI1LgctsGXQaPQFzx0d1YoD07a4++jUOzRtpCHLzNfvSgpZ4fj2JcB4YIy5Zy1EQ8IX2jpBOR0q6AcmJq9W8LP0LGEZN1qR//3K+v50HTWQ6/dnfyjs+OKP68Rwu9hdWLfCS7QVZRVAQ5a4hnusumyytZywGpBNtuKzALZASJtwVMoh3wE4yEVXGAzAe7//Q9PnVSM3WLAUltP16PrItlwzylUpvRCXkX3HA/GUjz3qLi5VqU/iM3+WLdoZLq7OWOhrrnL5Bx9sQH21KjdgzKpSDpzfqKRYF55ozznRRfAaEeqUQVEKP9PRXANvHaFnEH2hy9cXG5B4kNBkTP23TaKA2R0rqiDn1enLfqnYj7ljIKXGr8euQGDUY4e8jAUlSPcpOTjgUuE22nSm0udKIvH5GDYf14kMKu+uAAyY0a7WtCMBHFluPl43H4E9HK91RlfoeelySrwE6iNVXllXAzubmoxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W85vyRQyTPqb9yX6x62nWW",
      "input": {
        "note": "The white bowl's left rim edge now lines up with the jaw column in the left wrist view; descending to 4 cm so the jaws straddle the rim.",
        "targets": {
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01W85vyRQyTPqb9yX6x62nWW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0151, 1.354, 1.4574, -1.2587, 0.0429, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3002 right_y=0.0005 right_z=0.2293 right_yaw=0.102 right_pitch=-0.5948 right_roll=-0.14 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -5.9556, 9.9077, 1.7998, -0.0171, 0.149, -0.0171, -0.1026, -4.5744, 5.9556, 1.1111, -0.0317, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e876cd24f4bccda61c6af98d6b569bb319c1263e57d491ca73fa81c7925e8f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f903bf35f73c1d19f64b38d4c0b7c25e2683df94d450e01c5e7d320d224596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6dd5ecc78a97fd3a4126434c5215b1c5cb0b82a0ebda088d1f5427070964827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 7.53 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.231, 1.1645, 0.8207, -0.3309, -0.1734, -0.1371, 0.9993, 0.0147, 1.3525, 1.4574, -1.2491, 0.0429, -0.2165, 0.9965]\nstate[eef_state]: left_x=0.3556 left_y=-0.0486 left_z=0.1761 left_yaw=-0.0234 left_pitch=-0.0947 left_roll=0.0084 left_gripper=0.9993 right_x=0.3022 right_y=0.0004 right_z=0.2307 right_yaw=0.098 right_pitch=-0.5834 right_roll=-0.1389 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -4.506, 9.0051, 1.7607, -0.1343, 0.0317, -0.0122, -0.1299, -5.0256, 5.9692, 1.2869, 0.0415, 0.1538, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1375, 1.28, 0.8696, -0.3115, -0.1356, -0.1127, 0.9993, 0.0151, 1.3533, 1.4574, -1.2537, 0.0429, -0.2142, 0.9965]\nstate[eef_state]: left_x=0.3772 left_y=-0.0245 left_z=0.1603 left_yaw=0.026 left_pitch=-0.146 left_roll=0.0122 left_gripper=0.9993 right_x=0.3012 right_y=0.0005 right_z=0.23 right_yaw=0.0972 right_pitch=-0.5886 right_roll=-0.1372 right_gripper=0.9965\nstate[joint_eff]: [-1.0598, -5.9829, 10.4684, 1.7998, 0.1148, 0.188, -0.0122, -0.0615, -4.1915, 5.9556, 1.0476, -0.0024, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0151, 1.354, 1.4574, -1.2587, 0.0429, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3002 right_y=0.0005 right_z=0.2293 right_yaw=0.102 right_pitch=-0.5948 right_roll=-0.14 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -5.9556, 9.9077, 1.7998, -0.0171, 0.149, -0.0171, -0.1026, -4.5744, 5.9556, 1.1111, -0.0317, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e876cd24f4bccda61c6af98d6b569bb319c1263e57d491ca73fa81c7925e8f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f903bf35f73c1d19f64b38d4c0b7c25e2683df94d450e01c5e7d320d224596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6dd5ecc78a97fd3a4126434c5215b1c5cb0b82a0ebda088d1f5427070964827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwQKjgEIEhgCKkB5ikV6TF5QtcMsvhdntg8emloAu4a0lsw6OXcH7GFEGNl/zQLa1nnnkaG8GEgg7pdmoRi8PUxZyUsjnKFctUUHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarRy9UGEgw5ydLsgek5hamhU6gaDLzYQ7MlCyXmQ2EZkSIwb+7dPrGNPtE0jeRrDyaRA+ESIsV0ULcsa+HdWRBWZ6cqR1ljw+/J9igIpuSqgtMUKtkCyOqP/aLPtdJy2/NaqbcpnYkUw7Sgm/nHjpTOpzt5XLfeXS1bYgKaIzAflYKP/naA61WvkHTgz8pOAaqdeL0NnzCMCJ/RixF/FUa5wjxVUYzNYUomywucC8pEW9DiIoUgg/jcUA9mCJWOzZZv2y/XGzbY9U3OgU49qp5LeIN8Sj6f3V3hbbqjcV48JcE/5Pkmh+8hdwM3rmYVlEbORq6QwfQ6x+J4Vcz3rMe62o6agVe3BtzeZBgRC8VGzlDeJQQMK7QMfXhL7YAdPWHo3mPWxSEX/bCNO5uBG7QmW6f2RDQjWApTiL9WVJCjNgJWRQa2FCw0ifeTnfiyOfXg3XCm8DV+9fYxT77yJN0QfrmbOJfcbgSRNAZBcKFI4Y2HLl/8P7ZNjqvkuw2OEqssSxg3G2bulpTLk7h8xmbyMp4zXSGtRJZkyNygTJoOg683GpPzXL+sVbs4ZR2zGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YaXNqswpbn4wQdTpNC8jT9",
      "input": {
        "note": "The left arm ignored the large descent command, so I am stepping down in smaller increments toward the rim grasp height.",
        "targets": {
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YaXNqswpbn4wQdTpNC8jT9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0147, 1.354, 1.4574, -1.2594, 0.0429, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.2293 right_yaw=0.1017 right_pitch=-0.5956 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -5.9556, 9.853, 1.7998, -0.0171, 0.1343, -0.0122, -0.1709, -4.6974, 6.1197, 1.0427, -0.022, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9970d3c18dff67e6539efc1d0491b8f9d85f4cc962e5e827bd6bc9db4445b108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e7eecb0dd65961f581a0d6639d19ca937ea017d6e09cc7771232fbcfa0dd2fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6f31775f602733f2f0501955ff77bdd1c63aa8cf0a3be936eac9a21074a1cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.742 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1375, 1.28, 0.8696, -0.3115, -0.1356, -0.1127, 0.9993, 0.0151, 1.3533, 1.4574, -1.2537, 0.0429, -0.2142, 0.9965]\nstate[eef_state]: left_x=0.3772 left_y=-0.0245 left_z=0.1603 left_yaw=0.026 left_pitch=-0.146 left_roll=0.0122 left_gripper=0.9993 right_x=0.3012 right_y=0.0005 right_z=0.23 right_yaw=0.0972 right_pitch=-0.5886 right_roll=-0.1372 right_gripper=0.9965\nstate[joint_eff]: [-1.0598, -5.9829, 10.4684, 1.7998, 0.1148, 0.188, -0.0122, -0.0615, -4.1915, 5.9556, 1.0476, -0.0024, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0151, 1.354, 1.4574, -1.2587, 0.0429, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3002 right_y=0.0005 right_z=0.2293 right_yaw=0.102 right_pitch=-0.5948 right_roll=-0.14 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -5.9556, 9.9077, 1.7998, -0.0171, 0.149, -0.0171, -0.1026, -4.5744, 5.9556, 1.1111, -0.0317, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0147, 1.354, 1.4574, -1.2594, 0.0429, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.2293 right_yaw=0.1017 right_pitch=-0.5956 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -5.9556, 9.853, 1.7998, -0.0171, 0.1343, -0.0122, -0.1709, -4.6974, 6.1197, 1.0427, -0.022, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9970d3c18dff67e6539efc1d0491b8f9d85f4cc962e5e827bd6bc9db4445b108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e7eecb0dd65961f581a0d6639d19ca937ea017d6e09cc7771232fbcfa0dd2fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f31775f602733f2f0501955ff77bdd1c63aa8cf0a3be936eac9a21074a1cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwYKjgEIEhgCKkCAgrYqpMjMA0GGkrwNib4664/KbLy0ZbU6VmkZX55SkcpP3q/PyziS7w1Guf2r0jsVjgPG1RIM32Jfj0+/UutWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbLRy9UGEgw2Ipi9xMwR/JWup2EaDGJa6oBkyVYsSAGedSIwppvKVbQkVg4eBz0AYlYi5fohM5JG8qs098vTuuSFyPsxDmd3OJ07cj/DpbFPgDZAKs0Eh29sg9zOpBZcKRnONi7/lTJAIe52lL8wCoz4DjwVDEjH8+pnMe42KBT202BP1nSuwlHy4gD4g+NeNVnBLgMrwE4mYNS+8k2NSzaX0hkqMYV2eXbUf+iWdMleccuOXvZZVu1p71wDenzoz3wkG1dmIQYtM2Os/c/7iSGQ68t8VxjGPSHKsVwtRCxuZEzuy81PsoG6hKC+UOnhLgVNlHgxhSg6LcbJcMShkeWa4vXr7uf9QKii8X1jJK1T7Ccw1cV5hISV5NiXN+w7mWvxsvkg2ik5Mq7WZ7wvz/aV0+IEt19m7bAlupBh2Xa10j9jw7W23PyrEW8HskCHK4egFlRX9jdwS+PwhsoWo3o9yW9QlyQ+Ftxt3v2b3fU4F9b3r6sjgHaiTd1eqTxg+ZfzeIQVBrc+UwLS9l0L7pIfG4SRTkopRJcNmec0PnNqbbPHJczI/dfsCCkpZZraCLYJocNGUk3OCN6wHQCciXN2Cg02Y+ODUAgtJUrpaiC8TdyG+xSI+yFeGkxI8mlhO2pR2GgJbX096FC/EhMEgeSRGvOj7ZnASfr9v+VQ9mlB2g4v8+5Hqnux4lrc133T4vB4jz8GXmfSdEtHUpnTcl6w9gvQUEfbbIcRvAStzaVlFFJeds0e9CP1oUfWhoWIzLuDTW2XcgJndj5CU/SdpG4XBpEogH3ADrdeqc1z+8AIKMHKD7S+sJgWsLK3i+FNQXIiPuO/2PDn6kURY2UICj/1fiw3OyPiLzNReDIBAAfdz7cKg2jmKQVYNDEGgX6pLY3bNRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MRM1ptMFP6a9J8J2EssUnv",
      "input": {
        "note": "The left arm is stalled at z=0.156 and won't descend; backing off and up to reset the pose before re-approaching the white bowl.",
        "targets": {
          "left_x": 0.34,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MRM1ptMFP6a9J8J2EssUnv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1444, 1.1538, 0.9852, -0.5591, -0.1062, -0.1059, 0.9993, 0.0147, 1.3548, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3478 left_y=-0.028 left_z=0.2081 left_yaw=-0.0093 left_pitch=-0.1546 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.229 right_yaw=0.102 right_pitch=-0.5971 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -4.3692, 9.1145, 1.5214, -0.2173, -0.0904, -0.0171, -0.0889, -4.7795, 6.147, 1.0183, -0.0024, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f869da0682c3eef56a3dbb90b10af99974d44b875b8e0f6246d1e47abe81e5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89189c5f7ad1c106a8ae28d35ce6095b5040f319d7a87505e5230cb6621b82dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1dec432e8849e57cd884c071c6b01cd751f503712a0da98abf551e22a242af26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.633 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0151, 1.354, 1.4574, -1.2587, 0.0429, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3002 right_y=0.0005 right_z=0.2293 right_yaw=0.102 right_pitch=-0.5948 right_roll=-0.14 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -5.9556, 9.9077, 1.7998, -0.0171, 0.149, -0.0171, -0.1026, -4.5744, 5.9556, 1.1111, -0.0317, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0147, 1.354, 1.4574, -1.2594, 0.0429, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.2293 right_yaw=0.1017 right_pitch=-0.5956 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -5.9556, 9.853, 1.7998, -0.0171, 0.1343, -0.0122, -0.1709, -4.6974, 6.1197, 1.0427, -0.022, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1444, 1.1538, 0.9852, -0.5591, -0.1062, -0.1059, 0.9993, 0.0147, 1.3548, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3478 left_y=-0.028 left_z=0.2081 left_yaw=-0.0093 left_pitch=-0.1546 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.229 right_yaw=0.102 right_pitch=-0.5971 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -4.3692, 9.1145, 1.5214, -0.2173, -0.0904, -0.0171, -0.0889, -4.7795, 6.147, 1.0183, -0.0024, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f869da0682c3eef56a3dbb90b10af99974d44b875b8e0f6246d1e47abe81e5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89189c5f7ad1c106a8ae28d35ce6095b5040f319d7a87505e5230cb6621b82dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dec432e8849e57cd884c071c6b01cd751f503712a0da98abf551e22a242af26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AMKjgEIEhgCKkADfm2ZIsUDwgvjmJQy/Tb6ihslDskzfHZpzd2rf4V28Kb5e37CQFDGAac6bfad45z5Uwx/L1+YEAeQo8U/CCoqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbjRy9UGEgyvKPl2BmwisTF/dfoaDKaRi8Zm4gU+6kJygSIw7n9ZqLV+id+GEHcsOiJhJ1KFhUosVJAoW7f0sTe3+rjM7ANL03Bq1hrzEutpVlaVKv4BsGplPD57XGlGqbSf8/L/BgK3AzCwYPHOYCAWzEYxtX0r3zf7PFfoboDIX1U4y87bVewK6bgTwMftgRBrrDoIxwMvyoYnIdSA/tQwuRfkeA2/QHw8h/dV+QDF8c9o7mkzuAvF1uHtlBIqlZ+Q7xd16272LbxMi+4ZC0hkcv9a4YQl1TRYIma2XYsMngGSKTymX/x5/vvWByaXcQDkzGgx15pp/1EDqwYUsVkQhsbOskXdyfWIbOoBbu6eqw5uQZbKsjOnP5MPEn8OtoDdiRWAae/dRlwYKYcZwwWmVwaoI4Hn1Xz7xz4yBfURVWmwn+j5Z+aLjq0RILVZQYbA76EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VgG386brh4HbBVci1xQ9Gt",
      "input": {
        "note": "Arm is free again; descending first at the retracted radius, then I will move forward onto the bowl rim.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VgG386brh4HbBVci1xQ9Gt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.144, 1.2694, 0.5495, -0.0868, -0.1055, -0.1051, 0.9993, 0.0151, 1.3548, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3352 left_y=-0.0262 left_z=0.0704 left_yaw=-0.0079 left_pitch=-0.2329 left_roll=0.0097 left_gripper=0.9993 right_x=0.2999 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5975 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.4239, 6.5846, 2.0098, -0.0659, -0.0464, -0.0171, -0.1573, -4.5197, 5.9556, 1.0379, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3374c06f28295574185fabffdeebc5c873c6d617dd642780257c07132cf1974a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d998e5f89ef281e285208a16bbc54057a7162691620b4fb0fdf29f5827f434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e50c8349d28ef47f3089a1a9ed6c991309ae8ab3bdce717ff3fdd472132e5516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 5.933 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1253, 1.3018, 0.8791, -0.3103, -0.102, -0.094, 0.9993, 0.0147, 1.354, 1.4574, -1.2594, 0.0429, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.3804 left_y=-0.0262 left_z=0.1564 left_yaw=-0.0002 left_pitch=-0.1603 left_roll=0.0056 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.2293 right_yaw=0.1017 right_pitch=-0.5956 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -5.9556, 9.853, 1.7998, -0.0171, 0.1343, -0.0122, -0.1709, -4.6974, 6.1197, 1.0427, -0.022, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1444, 1.1538, 0.9852, -0.5591, -0.1062, -0.1059, 0.9993, 0.0147, 1.3548, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3478 left_y=-0.028 left_z=0.2081 left_yaw=-0.0093 left_pitch=-0.1546 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.229 right_yaw=0.102 right_pitch=-0.5971 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -4.3692, 9.1145, 1.5214, -0.2173, -0.0904, -0.0171, -0.0889, -4.7795, 6.147, 1.0183, -0.0024, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.144, 1.2694, 0.5495, -0.0868, -0.1055, -0.1051, 0.9993, 0.0151, 1.3548, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3352 left_y=-0.0262 left_z=0.0704 left_yaw=-0.0079 left_pitch=-0.2329 left_roll=0.0097 left_gripper=0.9993 right_x=0.2999 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5975 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.4239, 6.5846, 2.0098, -0.0659, -0.0464, -0.0171, -0.1573, -4.5197, 5.9556, 1.0379, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3374c06f28295574185fabffdeebc5c873c6d617dd642780257c07132cf1974a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d998e5f89ef281e285208a16bbc54057a7162691620b4fb0fdf29f5827f434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e50c8349d28ef47f3089a1a9ed6c991309ae8ab3bdce717ff3fdd472132e5516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwQKjgEIEhgCKkBtUCksZV2QBVJzwTIwRYBhySL0VPcy7NEmsKQpX/5aG+NQY6vASQQNPU48Dfaw6uYObHTr3i9pXcPf1iDV8zPnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb/Ry9UGEgx0piEb4ohGRow7wf8aDCc0uADS1v90I/uPQiIw2GeC8plQAyEnnepBNvNbbuk5DtQ69AFnMMF//IK3gLjEgnNluC6AnGHcfN3l/GEGKqUCbjayWIjJL4xjTVYcQ44TIdukRC1wRUPK52w8tNLdN2RGC5DU9t6d4gZm/2YutkZJ+0cap6IuojqlZYhSTW9Q1ajkeXy2mRKLLQF3O6JeFrk96uTT0IhZ3ehvvR9al9IexlqI9uD8vtFguooHaC0H3YyN3A1m2kNu6B0duI7kLiIzr/hsXtIwebM2pnhfJk379sVDI7pqoLTFDc98fCoiiLlv8HmtE434iFJ+EsRuypESzEzyhZKCyyPXshUBuqfhSttnssHBuuy+YScc4Yeu1Epp4AysaZBLPDBAzcZ7fjnMkrWwDYRPw78HlRXs0WrG/UxpN5wVtBWScsWTaM93Kn8mJhA3ZHH882Z6NI3rd6F2UIOt/j4gHpsH5zEg+Dd5GSpux40YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F8zCQwBmGMR1ReL7LmYHTm",
      "input": {
        "note": "The white bowl's left rim edge is just at the jaw column; nudging 2 cm forward and down to 4 cm so the jaws straddle the rim.",
        "targets": {
          "left_x": 0.355,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01F8zCQwBmGMR1ReL7LmYHTm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.3735, 0.5358, 0.0532, -0.104, -0.1047, 0.9993, 0.0151, 1.3544, 1.4574, -1.2617, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3505 left_y=-0.0262 left_z=0.0555 left_yaw=-0.0033 left_pitch=-0.2111 left_roll=0.0058 left_gripper=0.9993 right_x=0.2996 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5982 right_roll=-0.1398 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -4.7385, 6.3658, 1.2283, -0.022, 0.0562, -0.0171, -0.1299, -4.4239, 6.065, 1.0525, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:506a1df6c816b132ad9e647b34e90ceabf64395a89b8032e1641c873c9198621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ff073dd90025b3b70d7a8db10b44e3260408d8a11956636c5996f268959327f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a1abb9504fa15e87b8829eb59e1b4159409acc0f730bdb756721f7de97c2dd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.004 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1444, 1.1538, 0.9852, -0.5591, -0.1062, -0.1059, 0.9993, 0.0147, 1.3548, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3478 left_y=-0.028 left_z=0.2081 left_yaw=-0.0093 left_pitch=-0.1546 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3 right_y=0.0004 right_z=0.229 right_yaw=0.102 right_pitch=-0.5971 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.5949, -4.3692, 9.1145, 1.5214, -0.2173, -0.0904, -0.0171, -0.0889, -4.7795, 6.147, 1.0183, -0.0024, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.144, 1.2694, 0.5495, -0.0868, -0.1055, -0.1051, 0.9993, 0.0151, 1.3548, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3352 left_y=-0.0262 left_z=0.0704 left_yaw=-0.0079 left_pitch=-0.2329 left_roll=0.0097 left_gripper=0.9993 right_x=0.2999 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5975 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.4239, 6.5846, 2.0098, -0.0659, -0.0464, -0.0171, -0.1573, -4.5197, 5.9556, 1.0379, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.3735, 0.5358, 0.0532, -0.104, -0.1047, 0.9993, 0.0151, 1.3544, 1.4574, -1.2617, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3505 left_y=-0.0262 left_z=0.0555 left_yaw=-0.0033 left_pitch=-0.2111 left_roll=0.0058 left_gripper=0.9993 right_x=0.2996 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5982 right_roll=-0.1398 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -4.7385, 6.3658, 1.2283, -0.022, 0.0562, -0.0171, -0.1299, -4.4239, 6.065, 1.0525, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:506a1df6c816b132ad9e647b34e90ceabf64395a89b8032e1641c873c9198621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ff073dd90025b3b70d7a8db10b44e3260408d8a11956636c5996f268959327f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a1abb9504fa15e87b8829eb59e1b4159409acc0f730bdb756721f7de97c2dd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAUKjgEIEhgCKkAKob0KFnFtGdliYxZHbvYndWIVdnxWbP6nx/b0CkBSyG6nWKMbR2vmefGwZWdgQUQRrLal5XmL9xHAcKajPy/5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcXRy9UGEgwcey/BZVgh3f8g9e0aDEyKGo6adYqfnFtUHiIwXZCJVtOrZeP08bigk5zKaIKrX9oEjTsbPc2krYSlRBbe/cK76VZ31QmMkdawcB6FKrIDVmmiwBVPTVTtISuX1XWZnef62Tyxy6OlpY8sZfX4zGgsjTlGL/PCRUutbLuZ+jdorwCi1YSdriOmv8K8E/KEzdqvSSoe5k2FW3qfuzlgBIk/WvVNadbXtomSrs6khm59lwnEGA34i6AeWGaXBXqchdg8pw96PS6O1dE0R/HuZRPUgTiReTujEAPCcBOGk/reZb/iaqM4hkkSJrIykVDLzPfRrychllSBbU+KXk7v0ztP4W0D58Hl8bnLnRVAD3snG4a74Ery/srH5+aIbGBs8ZapgF5skWcElxCRmTjhCEGl7UFF9SP/1v/29a4iPOlMCMF6/g3THPtnGlYSL8vGhOxEpUPfROMu4OECtMSCjIDWG+S19VAnULMH9+n/vC58AUJ/uQBCOr1TH/RtZLJRKyFZeaBTa/Q+LaqZPpz4yCRp1OW8jyoGvDWLkxPvv5RYg6SJ0m0R1mYlzD3EZNgzwaeLMaqf9WMXJA2bEl5IMuwbo46lZJBUqEbyrKgcaWYBf9dK1bWm5KCcqEmQc4zUwtqczENhDHXMWfPOfuSYkuyj7gqvwS4PmTEXLwpAyhEvIJkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016PGvLABWAcdFiGG5pvtf4N",
      "input": {
        "note": "Rim appears to lie between the jaws (inner jaw inside the bowl); closing to grip the white bowl's rim.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016PGvLABWAcdFiGG5pvtf4N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1364, 1.3804, 0.5297, 0.0425, -0.1051, -0.1051, 0.0094, 0.0151, 1.3579, 1.4574, -1.261, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3463 left_y=-0.0252 left_z=0.0491 left_yaw=-0.0006 left_pitch=-0.2345 left_roll=0.0096 left_gripper=0.0094 right_x=0.3001 right_y=0.0005 right_z=0.228 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -5.4632, 6.4752, 1.6728, -0.0269, 0.0073, 0.6276, -0.0342, -4.9162, 5.9556, 1.0134, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf45c6399db49f6728cb0919303310b1139a76bc477b205780276a5ce621233f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d6a83fe8547bb4806325b346339c4673255edd9d3aed35ce77838993ff45d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:838123d44027729fe392feaeea8151718f336e25780467a2badff6d3a3c8e2c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.154 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.144, 1.2694, 0.5495, -0.0868, -0.1055, -0.1051, 0.9993, 0.0151, 1.3548, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3352 left_y=-0.0262 left_z=0.0704 left_yaw=-0.0079 left_pitch=-0.2329 left_roll=0.0097 left_gripper=0.9993 right_x=0.2999 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5975 right_roll=-0.1399 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -4.4239, 6.5846, 2.0098, -0.0659, -0.0464, -0.0171, -0.1573, -4.5197, 5.9556, 1.0379, -0.0073, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.3735, 0.5358, 0.0532, -0.104, -0.1047, 0.9993, 0.0151, 1.3544, 1.4574, -1.2617, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3505 left_y=-0.0262 left_z=0.0555 left_yaw=-0.0033 left_pitch=-0.2111 left_roll=0.0058 left_gripper=0.9993 right_x=0.2996 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5982 right_roll=-0.1398 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -4.7385, 6.3658, 1.2283, -0.022, 0.0562, -0.0171, -0.1299, -4.4239, 6.065, 1.0525, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1364, 1.3804, 0.5297, 0.0425, -0.1051, -0.1051, 0.0094, 0.0151, 1.3579, 1.4574, -1.261, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3463 left_y=-0.0252 left_z=0.0491 left_yaw=-0.0006 left_pitch=-0.2345 left_roll=0.0096 left_gripper=0.0094 right_x=0.3001 right_y=0.0005 right_z=0.228 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -5.4632, 6.4752, 1.6728, -0.0269, 0.0073, 0.6276, -0.0342, -4.9162, 5.9556, 1.0134, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf45c6399db49f6728cb0919303310b1139a76bc477b205780276a5ce621233f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d6a83fe8547bb4806325b346339c4673255edd9d3aed35ce77838993ff45d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:838123d44027729fe392feaeea8151718f336e25780467a2badff6d3a3c8e2c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgMKjgEIEhgCKkC+kbmvZiqJtNvX/w2i42AfQx4Micoqe96yWkZ3G47sbRxB80Nqkmzo1M1/HQc9DY5Jr1HlOQaXzYNncMejegUhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcvRy9UGEgwaNjHGdOsFwO2FQAMaDCsje4p9KC8TTUfWlCIw0QVxaFCfv98+11z03Ohi96GBdAu+zjfPSZ1Cwob05ff5Cah//2IwtU5g7C01TUl0KrQBqGQJHWxJwYOPiswI1YxKbmbxLvvLq4/Wet0PS5XRYLzdNL06Pee3C0xjC2vP6V19qddEfGIaxIXogjMRoQj6xnnFcwrPIYlrDWUTeS4c5a9j2pgWM2KQpDyi+1/5+1oQ4WOZwIThGdqqugEj66czrCHUgMOKwWWyqeL5KZqZpEyBaH4j/6xs0Llq8NwIgFyNlDkH1u7OU1HsuN4SeNnGeq2sN6uJIoSZ8gqVMehg5EJZUjunGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Adu9XhwGY6gyoCf15jjcp2",
      "input": {
        "note": "Gripper closed to 0.009 — empty, the jaws missed the rim. Reopening and shifting 2 cm toward the bowl so the rim falls between the jaws.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Adu9XhwGY6gyoCf15jjcp2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2165, 1.3922, 0.5297, 0.0307, -0.1555, -0.1638, 0.9951, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.0434 left_z=0.0441 left_yaw=-0.0038 left_pitch=-0.2507 left_roll=0.0095 left_gripper=0.9951 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [-0.7179, -4.3145, 6.9538, 1.4969, -0.1538, -0.0024, -0.1538, -0.0889, -4.8068, 5.8872, 1.0574, -0.0024, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f403b52a629438316ff5b8f8fb1d98171d67dbbf25650ec755982cf270244fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9473dfe5a17b5a5a17486a2f2b70d870b61d8bd4298fc8586c61f6b360a71ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1be683f18058bd6416bc28b4f858870696a4b88627e59ce7fb8b62b53831066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 9.808 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1371, 1.3735, 0.5358, 0.0532, -0.104, -0.1047, 0.9993, 0.0151, 1.3544, 1.4574, -1.2617, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3505 left_y=-0.0262 left_z=0.0555 left_yaw=-0.0033 left_pitch=-0.2111 left_roll=0.0058 left_gripper=0.9993 right_x=0.2996 right_y=0.0005 right_z=0.2289 right_yaw=0.1024 right_pitch=-0.5982 right_roll=-0.1398 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -4.7385, 6.3658, 1.2283, -0.022, 0.0562, -0.0171, -0.1299, -4.4239, 6.065, 1.0525, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1364, 1.3804, 0.5297, 0.0425, -0.1051, -0.1051, 0.0094, 0.0151, 1.3579, 1.4574, -1.261, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3463 left_y=-0.0252 left_z=0.0491 left_yaw=-0.0006 left_pitch=-0.2345 left_roll=0.0096 left_gripper=0.0094 right_x=0.3001 right_y=0.0005 right_z=0.228 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -5.4632, 6.4752, 1.6728, -0.0269, 0.0073, 0.6276, -0.0342, -4.9162, 5.9556, 1.0134, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2165, 1.3922, 0.5297, 0.0307, -0.1555, -0.1638, 0.9951, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.0434 left_z=0.0441 left_yaw=-0.0038 left_pitch=-0.2507 left_roll=0.0095 left_gripper=0.9951 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [-0.7179, -4.3145, 6.9538, 1.4969, -0.1538, -0.0024, -0.1538, -0.0889, -4.8068, 5.8872, 1.0574, -0.0024, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f403b52a629438316ff5b8f8fb1d98171d67dbbf25650ec755982cf270244fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9473dfe5a17b5a5a17486a2f2b70d870b61d8bd4298fc8586c61f6b360a71ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1be683f18058bd6416bc28b4f858870696a4b88627e59ce7fb8b62b53831066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgQKjgEIEhgCKkBIZJAgEIrmfK36bkLp79nX9e2iN/y2c1HdiQcFruiiu/IFpC8bbmZCj+3Q07gitLqGk//YTrj9zvZpwZ/ifhiAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdHRy9UGEgzPCU+YZTBo+ML7f88aDABAckNsT1BrXpmPgyIw2d36JtRS2NM869yYO66UO0ffh6E+aV/8S0A59cC6ijEStDp/toLIrRBzgO1adb7nKsQC4oZPw3bUYQ11VWKHC2XZzKe/AT5z6xsXNp5Qo/Ym/0nbXqo6nc1QfdGlZYSTcqybixLh/ZqknmS1Et0OC/0rDw6fQ0lEC8e5NR/Ky6GVAu+nOQTY4VXzcaG9P2+7UARWMFggxSa4bsjA/N5Y+tlAZ49y4Ilsb/eYoSGh5s5IxAAxIUAUBTyEX0K9XOU3GAhmDFWgG47VSqRbUMRTfQPr7uRnAfS4Sh4cOJMtZ/q1Dkc/2KfT2PhZJ49ImDQeB7JzNqCM19izWXNISTqM1vynszJBSSnbRpwVy9Gx+Zt+iHMJp9YUrVYPKzlJShVGiCq3rQSUGYkIOLl5o7mTBGGk1/FCTC6b68dF/6X+M0dACKto0RahUTN9dro3eIVSQSRuT5F+eJeev3uKf0+3vfHt/FVKfkP2r98SfsPURMl2LCLYeSvkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ljub6fBUrhu3BFQWJjQShT",
      "input": {
        "note": "After shifting 2 cm toward the bowl the rim now crosses the jaw column; closing again on the white bowl's rim.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ljub6fBUrhu3BFQWJjQShT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 1.3937, 0.5297, 0.033, -0.1543, -0.173, 0.0143, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3418 left_y=-0.0436 left_z=0.044 left_yaw=0.0006 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.0143 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -4.9846, 6.2154, 1.5214, -0.1832, 0.0415, 0.9109, -0.0342, -4.7658, 5.9282, 1.0574, 0.0024, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a359c8e0b98c3100aae7f4d636f6f7ba954eadbaba756711283bcaa7dbf069f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0116742a2ec6db109cf0cb131d31544e42005ff7e1694202992b70f0287868c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f024ff9170f3f2d2b05982da90d7f95e0bc9b5436264bed66a361cf29de6ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 6.264 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1364, 1.3804, 0.5297, 0.0425, -0.1051, -0.1051, 0.0094, 0.0151, 1.3579, 1.4574, -1.261, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3463 left_y=-0.0252 left_z=0.0491 left_yaw=-0.0006 left_pitch=-0.2345 left_roll=0.0096 left_gripper=0.0094 right_x=0.3001 right_y=0.0005 right_z=0.228 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -5.4632, 6.4752, 1.6728, -0.0269, 0.0073, 0.6276, -0.0342, -4.9162, 5.9556, 1.0134, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2165, 1.3922, 0.5297, 0.0307, -0.1555, -0.1638, 0.9951, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.0434 left_z=0.0441 left_yaw=-0.0038 left_pitch=-0.2507 left_roll=0.0095 left_gripper=0.9951 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [-0.7179, -4.3145, 6.9538, 1.4969, -0.1538, -0.0024, -0.1538, -0.0889, -4.8068, 5.8872, 1.0574, -0.0024, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 1.3937, 0.5297, 0.033, -0.1543, -0.173, 0.0143, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3418 left_y=-0.0436 left_z=0.044 left_yaw=0.0006 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.0143 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -4.9846, 6.2154, 1.5214, -0.1832, 0.0415, 0.9109, -0.0342, -4.7658, 5.9282, 1.0574, 0.0024, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a359c8e0b98c3100aae7f4d636f6f7ba954eadbaba756711283bcaa7dbf069f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0116742a2ec6db109cf0cb131d31544e42005ff7e1694202992b70f0287868c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f024ff9170f3f2d2b05982da90d7f95e0bc9b5436264bed66a361cf29de6ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS/wgKjgEIEhgCKkAovfrny+TZKwNg1LbiedOmHnHCuZINzE/NskHW+3Fk35uwPgPx6Q/8E1Cy063xAuREe07ObuFrju6WfgyQFGIHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdvRy9UGEgxqrcocKarXjFRgouEaDFL4oARFt/hxYl6ewCIwcyA2ssRYBLMRANyH8Ggq4eWdxeTsHKOzWQc7Til9cRfqqUt/SP+SZ5m0z/FkBRuQKp0H8oXKXfZKXMv1VWe9bjedZFubAzfgyLaoX+A7cfHDhcOfyvEiMttoSaa9FNwNoCpfjBq9T7tOJp12L28vnIU5fCvUjLBU/VQswDuF0onWG/wMebWachj+XzuXxf/ybeVOhV6JhAZmUxEHLfe9Rf4PuwiP3HYnAa0aA3fSoVVCX9OcvSYBL4i0UkymPiLP4v4boggDVcBaID44iG12g+YwC1ICxjcWKBo6bbpjkuCg0fR2CXo+5FDB9kFsk2q7sQO6cL2VdqnmmgTueT8YZuk/YAIG/TK5jh7jlvABRPuX4c9TSpMtEphQY+nJ3LOXQYwU2RKVGOZEeSRhZnSK15LBrWkorGaZZ72cUe+7y0/1zFHx8NYBBtwhxl6qMMPxOZFtgTYHvMImNkEkFiS1g92V3gWv5BT8hfmDE6+9InX4KPyQVgQNOYbNfy9nRN+17Zr2KPZw4VFQZMAiLgVq45ublA4da/mtBZ4YYSqkVmz4p7JzPUtkDgmSJaN0zNZ/iqj7VP5tG21MhqWE5ikP5DmPruJyRLnVpGHpV/9ZUEvrdXdpjEj03i7QZPPfRfvwHFyBn27YDXeo2QKbU1pC0MgobKXm92JH/MEduwvK/S2M5gm0hk1zcCup2wLBarzhLXpNk9PuoO6hm/3SnTJBhVGDVOS8fsZY5a3YkPUzseWh6yP22N50n+Uv60bqm+DVX6mOP95oml6MqMoc2aJafw/9/pityA4TN2YRxJkxVuXhkzs4ZjhVF25PyL8Qj41VHTW0heqX79lXkyygvgebyGixywtgW9bl6IwsXZ94dX8Y5eVb5pv8TB24Kn58PJZVCKejsefOZ+FiMqKbkyIvgEYM1wX6F8FAhzdhtUhBdMw6hxurFxFBNCLSjEwbW2QbYZ4cEYGRn3DKGkY2j7LdZA2RMXw0426d6/SUjfdT0rJvWDERgdGO3hYG7vLVVz9FgPXnU/6SdHyrJwUZji0NoVgqx75AhIngFIycDbJcrpDtt1IR3UTLB/kOlzxdf5y1Wmt01xCxTnVDSxddYU6c8JYvX6MKMUHiXTCoB698mjt7LIjrUtZUekYTeVvq1KciRpu3LgFawITqfX40c4SMCb8fgR9Un1T3PsTj+wISomp62gmw3pZZ+iEI/ogjySZXCmJ1etxk/owuwKCylr8rhfPIrmiGtvHahdMJTya7NQgUBV+++qO44+giCAP9pQKFfDMJmJefmOSd5t/GUKJMaRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PotE2bGwk7gDXw1zmt4nw5",
      "input": {
        "note": "Closed empty again — the rim is still to the arm's right of the jaws. Reopening and shifting another 2.5 cm toward the bowl centre.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.068
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PotE2bGwk7gDXw1zmt4nw5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3134, 1.4059, 0.5304, 0.0193, -0.2119, -0.2443, 0.9947, 0.0151, 1.3579, 1.4574, -1.2602, 0.0429, -0.2218, 0.9965]\nstate[eef_state]: left_x=0.3349 left_y=-0.0657 left_z=0.0395 left_yaw=-0.006 left_pitch=-0.2628 left_roll=0.0017 left_gripper=0.9947 right_x=0.3003 right_y=0.0005 right_z=0.2281 right_yaw=0.1028 right_pitch=-0.6002 right_roll=-0.1398 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -3.5761, 8.253, 1.5214, -0.2613, 0.0073, -0.0513, -0.1162, -4.7658, 5.9282, 1.0379, -0.0073, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:946af19f8f05e24960c112bea0031659e69d196a3ee7ded31aa8ccb2da6ebb2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0186186f78325f783bc95652bb9886c5a82b34e2a765d4b262eaf5d2b1d0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d552bad25c9b7a114182b4c08adcd807b7e83f2d428519edc97c1b77033d0de7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 14.17 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2165, 1.3922, 0.5297, 0.0307, -0.1555, -0.1638, 0.9951, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.0434 left_z=0.0441 left_yaw=-0.0038 left_pitch=-0.2507 left_roll=0.0095 left_gripper=0.9951 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [-0.7179, -4.3145, 6.9538, 1.4969, -0.1538, -0.0024, -0.1538, -0.0889, -4.8068, 5.8872, 1.0574, -0.0024, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 1.3937, 0.5297, 0.033, -0.1543, -0.173, 0.0143, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3418 left_y=-0.0436 left_z=0.044 left_yaw=0.0006 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.0143 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -4.9846, 6.2154, 1.5214, -0.1832, 0.0415, 0.9109, -0.0342, -4.7658, 5.9282, 1.0574, 0.0024, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3134, 1.4059, 0.5304, 0.0193, -0.2119, -0.2443, 0.9947, 0.0151, 1.3579, 1.4574, -1.2602, 0.0429, -0.2218, 0.9965]\nstate[eef_state]: left_x=0.3349 left_y=-0.0657 left_z=0.0395 left_yaw=-0.006 left_pitch=-0.2628 left_roll=0.0017 left_gripper=0.9947 right_x=0.3003 right_y=0.0005 right_z=0.2281 right_yaw=0.1028 right_pitch=-0.6002 right_roll=-0.1398 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -3.5761, 8.253, 1.5214, -0.2613, 0.0073, -0.0513, -0.1162, -4.7658, 5.9282, 1.0379, -0.0073, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:946af19f8f05e24960c112bea0031659e69d196a3ee7ded31aa8ccb2da6ebb2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0186186f78325f783bc95652bb9886c5a82b34e2a765d4b262eaf5d2b1d0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d552bad25c9b7a114182b4c08adcd807b7e83f2d428519edc97c1b77033d0de7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrQUKjgEIEhgCKkBAuthxgjxVBR/pcj2RS/mDJYmUL3QkOai+X2QOt1gLpaJFduAZjVP7hDyLtYhgLrPQnWAaS278R4o3ON/9f1goMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAePRy9UGEgx5OIFfzmMa0/W3e/oaDD3EImA86ILy6VslPCIwuOk1H7ANQ6GfSnsWDu6GelgoIyFDPHScxLw8FDI/fsalU9mJXWtodewwxQIhq05yKssDVL2gxn42mHWvbYzBi7Jgy6fJGZ8swDqh7/CL+iPXxu4F1EHG7LsIP8tqCP1/aQQmz/FPJ3jcLM/bUNNseFUGTEyUuxt8raae6r+uQnPpYR7TGpU8PgrmBeOuk+vnunFHytdHRn8T8GrZ73UxAjjitImQmt7B+HUx/EqlwdOFTES+SfEL+EsYxASB1MbtWfvkXjTGuzBt2QhAerQcdmdTJM+7mUQk/1tyQZLux9sZ90CDIT1fIjrg90tCHvwXl0RNIpLq3JFdRdwGl4DrlUcchqjUukTaFL3f+AYrBdOds1HuydiHv0HYSxkQqRVQPUZts1cB2cUyZ21DlOkFg8zSjuhH5K6TWxBfSey1HGxITQBmi6sQ9hs2d28wMDTyAGSBr9XjGZQiYoF5HJznUSwXSJb5L8pGB4hJHVCow2Eh6HVzhH2H/u5hdWrb/Uar7bhyO6rWIebqjyfx+t8ryX+VrlhODgR9CN9dc7kXLhhwgRXifADsWx0IgRaQLFq9MTGOtX2vgCa0SGU1N/nzqZJjlS4Wbe+CrDQx7oLPx860sGvqO7I5BnfkjACL5NRttLuuM4G4zMi/deUKANvGBF7DznrPrsueEiV3XRXKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FroMLwPgZuxKWQ2uPJWkBS",
      "input": {
        "note": "The bowl's near rim now crosses the jaw column in the wrist view; closing on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FroMLwPgZuxKWQ2uPJWkBS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3164, 1.4132, 0.5308, 0.0246, -0.207, -0.2562, 0.0197, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3351 left_y=-0.0678 left_z=0.038 left_yaw=-0.0066 left_pitch=-0.2653 left_roll=-0.0098 left_gripper=0.0197 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -5.0667, 5.7778, 1.2381, -0.1783, 0.0904, 1.0037, -0.1162, -4.8068, 6.2017, 1.0281, -0.0269, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79556715a4c32dad6042a9dbaf8a90908589bd3de47cbe1c3583618cc9c79de6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4bd36be94e6bb319e4d7a9cd4d9c5c3577350612041d306f8e31f29ea113e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ce5a9ee2d84e48fd46c12c06f47e58577aa2360fe35d3a85ab5f700825727dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 23.66 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 1.3937, 0.5297, 0.033, -0.1543, -0.173, 0.0143, 0.0151, 1.3579, 1.4574, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3418 left_y=-0.0436 left_z=0.044 left_yaw=0.0006 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.0143 right_x=0.3002 right_y=0.0005 right_z=0.2281 right_yaw=0.1026 right_pitch=-0.6005 right_roll=-0.1396 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -4.9846, 6.2154, 1.5214, -0.1832, 0.0415, 0.9109, -0.0342, -4.7658, 5.9282, 1.0574, 0.0024, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3134, 1.4059, 0.5304, 0.0193, -0.2119, -0.2443, 0.9947, 0.0151, 1.3579, 1.4574, -1.2602, 0.0429, -0.2218, 0.9965]\nstate[eef_state]: left_x=0.3349 left_y=-0.0657 left_z=0.0395 left_yaw=-0.006 left_pitch=-0.2628 left_roll=0.0017 left_gripper=0.9947 right_x=0.3003 right_y=0.0005 right_z=0.2281 right_yaw=0.1028 right_pitch=-0.6002 right_roll=-0.1398 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -3.5761, 8.253, 1.5214, -0.2613, 0.0073, -0.0513, -0.1162, -4.7658, 5.9282, 1.0379, -0.0073, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3164, 1.4132, 0.5308, 0.0246, -0.207, -0.2562, 0.0197, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3351 left_y=-0.0678 left_z=0.038 left_yaw=-0.0066 left_pitch=-0.2653 left_roll=-0.0098 left_gripper=0.0197 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -5.0667, 5.7778, 1.2381, -0.1783, 0.0904, 1.0037, -0.1162, -4.8068, 6.2017, 1.0281, -0.0269, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79556715a4c32dad6042a9dbaf8a90908589bd3de47cbe1c3583618cc9c79de6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4bd36be94e6bb319e4d7a9cd4d9c5c3577350612041d306f8e31f29ea113e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ce5a9ee2d84e48fd46c12c06f47e58577aa2360fe35d3a85ab5f700825727dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VSetouUbaR1JP459WPRNmF",
      "input": {
        "note": "Third empty close: the jaws are still short of and left of the rim. Lifting clear and repositioning 3 cm further toward the bowl centre and 2 cm further out before descending again.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.095,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VSetouUbaR1JP459WPRNmF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3809, 1.4101, 0.7715, -0.2535, -0.2413, -0.3153, 0.9946, 0.0151, 1.3586, 1.4574, -1.261, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.353 left_y=-0.092 left_z=0.0868 left_yaw=-0.0056 left_pitch=-0.2888 left_roll=-0.0128 left_gripper=0.9946 right_x=0.3002 right_y=0.0005 right_z=0.2278 right_yaw=0.1026 right_pitch=-0.6017 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -5.4222, 8.9504, 1.3114, -0.2808, 0.0952, -0.022, -0.0889, -4.6701, 5.9692, 0.9744, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a95ae68a85d9e8efe66734f881c37073b6013e39e1e27943c3d171120193ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65e5bd7799bcd5ff35e6f21a9867a8677e731b45074a509d1c3ae450948b51cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2a1f76e03360479e2e0a5ce359edbd8497460b4859d9364fe7ab64d2a8a7b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 5.708 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3134, 1.4059, 0.5304, 0.0193, -0.2119, -0.2443, 0.9947, 0.0151, 1.3579, 1.4574, -1.2602, 0.0429, -0.2218, 0.9965]\nstate[eef_state]: left_x=0.3349 left_y=-0.0657 left_z=0.0395 left_yaw=-0.006 left_pitch=-0.2628 left_roll=0.0017 left_gripper=0.9947 right_x=0.3003 right_y=0.0005 right_z=0.2281 right_yaw=0.1028 right_pitch=-0.6002 right_roll=-0.1398 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -3.5761, 8.253, 1.5214, -0.2613, 0.0073, -0.0513, -0.1162, -4.7658, 5.9282, 1.0379, -0.0073, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3164, 1.4132, 0.5308, 0.0246, -0.207, -0.2562, 0.0197, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3351 left_y=-0.0678 left_z=0.038 left_yaw=-0.0066 left_pitch=-0.2653 left_roll=-0.0098 left_gripper=0.0197 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -5.0667, 5.7778, 1.2381, -0.1783, 0.0904, 1.0037, -0.1162, -4.8068, 6.2017, 1.0281, -0.0269, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3809, 1.4101, 0.7715, -0.2535, -0.2413, -0.3153, 0.9946, 0.0151, 1.3586, 1.4574, -1.261, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.353 left_y=-0.092 left_z=0.0868 left_yaw=-0.0056 left_pitch=-0.2888 left_roll=-0.0128 left_gripper=0.9946 right_x=0.3002 right_y=0.0005 right_z=0.2278 right_yaw=0.1026 right_pitch=-0.6017 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -5.4222, 8.9504, 1.3114, -0.2808, 0.0952, -0.022, -0.0889, -4.6701, 5.9692, 0.9744, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a95ae68a85d9e8efe66734f881c37073b6013e39e1e27943c3d171120193ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65e5bd7799bcd5ff35e6f21a9867a8677e731b45074a509d1c3ae450948b51cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2a1f76e03360479e2e0a5ce359edbd8497460b4859d9364fe7ab64d2a8a7b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019v4f6LNT8ZHqd7xEvmDhsV",
      "input": {
        "note": "The white bowl now sits centred between the two open jaws in the wrist view; descending to rim height to attempt a grasp across the bowl (or on its rim) from here.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019v4f6LNT8ZHqd7xEvmDhsV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.5364, 0.6376, -0.0772, -0.2398, -0.3153, 0.9955, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3377 left_y=-0.0875 left_z=0.0214 left_yaw=0.0003 left_pitch=-0.3672 left_roll=0.0189 left_gripper=0.9955 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -6.4205, 6.2974, 1.7949, -0.1392, -0.0269, 0.0806, -0.2256, -4.7932, 5.8462, 1.0379, 0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9450d395b74301a962d26a26e433105ff9ad2a51d3f1e92ce2358514c1dbe1d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb3ae126293954d42878a6095f7b627fef3a81ae56fa7f3bf78938bea8486668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a4a1cd019dbff752f80a6bca4350d98b104aa9000e78677220a6926a0b8df7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.596 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3164, 1.4132, 0.5308, 0.0246, -0.207, -0.2562, 0.0197, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3351 left_y=-0.0678 left_z=0.038 left_yaw=-0.0066 left_pitch=-0.2653 left_roll=-0.0098 left_gripper=0.0197 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -5.0667, 5.7778, 1.2381, -0.1783, 0.0904, 1.0037, -0.1162, -4.8068, 6.2017, 1.0281, -0.0269, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3809, 1.4101, 0.7715, -0.2535, -0.2413, -0.3153, 0.9946, 0.0151, 1.3586, 1.4574, -1.261, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.353 left_y=-0.092 left_z=0.0868 left_yaw=-0.0056 left_pitch=-0.2888 left_roll=-0.0128 left_gripper=0.9946 right_x=0.3002 right_y=0.0005 right_z=0.2278 right_yaw=0.1026 right_pitch=-0.6017 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -5.4222, 8.9504, 1.3114, -0.2808, 0.0952, -0.022, -0.0889, -4.6701, 5.9692, 0.9744, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.5364, 0.6376, -0.0772, -0.2398, -0.3153, 0.9955, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3377 left_y=-0.0875 left_z=0.0214 left_yaw=0.0003 left_pitch=-0.3672 left_roll=0.0189 left_gripper=0.9955 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -6.4205, 6.2974, 1.7949, -0.1392, -0.0269, 0.0806, -0.2256, -4.7932, 5.8462, 1.0379, 0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9450d395b74301a962d26a26e433105ff9ad2a51d3f1e92ce2358514c1dbe1d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb3ae126293954d42878a6095f7b627fef3a81ae56fa7f3bf78938bea8486668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4a1cd019dbff752f80a6bca4350d98b104aa9000e78677220a6926a0b8df7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAQKjgEIEhgCKkB71/vWA7ILeH1KyB116B8ZAFoFqTqiegEVj8py2m5I8aPmLNMipBDJPmIhYT50kc06vwZnBbYuwLaqwF0zty6SMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZDSy9UGEgydFW74pZf50gyohpEaDDxulwqdy+WhrpkFoyIwWs7/mOqvp+PFa03ecWgUXJLjrd+ZDXVAe7ujfpdPP2Y6zUSaQlm5ijuWjzQuBen7KuICbcEYIs00IDl9eOaVWrHIFXRv4p0mwaR/Pf2D+FgbnGxTc8tFIxVwpmnOy6KZl0a5bcDxL6n6ReKYS74OGfwI6dw90TezQGc7pZd/MEa+eb8lQrcFfxunmVsFf7ZKJi6dlUsbLohJQGuzMglrwJZ5m+EhHCUyrOU086MLCqGKYw11vwXoHoQ/4Q0pu9Lj86qPPlVv+bQU9rot1YHOp4vpJHNoovjdMWB7NsTLrbeEa/+FNXCd+RvzW89gCh9LhpmBCjfEh98rVtN+cnBjLbSpqs0Cp0mqYH020FM4DegR9LBmBaMV9ZUzsl8jP+fHeTZfXEPmJTzTn52pr4vg3A8OVRYe0rWdolBbtwRTt0UTgbio7tHIrQX5mWHAM5+cE0pTjDTLsWeu1VmZlF4QlF1t92HhRJzvTO99mMrfOvdrzbSZkYIEQ7GRPXsKFMcEL1qqv3wOTvzC8zPl+kq433a5tqrJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UFPAAiut7YRsC7hnqJPPXj",
      "input": {
        "note": "At 2 cm height the bowl's near rim runs between the jaws (left jaw outside on the table, right jaw inside the bowl); closing to grip the rim.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UFPAAiut7YRsC7hnqJPPXj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3847, 1.5295, 0.6323, -0.046, -0.223, -0.3386, 0.0285, 0.0151, 1.359, 1.4567, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.0923 left_z=0.0257 left_yaw=-0.0057 left_pitch=-0.3418 left_roll=-0.0227 left_gripper=0.0285 right_x=0.3003 right_y=0.0005 right_z=0.2275 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -4.9026, 6.3795, 0.735, -0.2906, 0.2711, 1.37, -0.0615, -4.7248, 5.9692, 0.9939, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac63e24c06ffc011c80a17a123a75a74cd361be560743abd11ce0f7a4e8b6d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6495969d7714cf428c9a3c016018cff3805a780d40cc1c603a0bd8bb35772af1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4da5704a0a27e558182cd34f367578eee0bb27954f639c6e002dbdb75e878716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 12.92 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3809, 1.4101, 0.7715, -0.2535, -0.2413, -0.3153, 0.9946, 0.0151, 1.3586, 1.4574, -1.261, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.353 left_y=-0.092 left_z=0.0868 left_yaw=-0.0056 left_pitch=-0.2888 left_roll=-0.0128 left_gripper=0.9946 right_x=0.3002 right_y=0.0005 right_z=0.2278 right_yaw=0.1026 right_pitch=-0.6017 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -5.4222, 8.9504, 1.3114, -0.2808, 0.0952, -0.022, -0.0889, -4.6701, 5.9692, 0.9744, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.5364, 0.6376, -0.0772, -0.2398, -0.3153, 0.9955, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3377 left_y=-0.0875 left_z=0.0214 left_yaw=0.0003 left_pitch=-0.3672 left_roll=0.0189 left_gripper=0.9955 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -6.4205, 6.2974, 1.7949, -0.1392, -0.0269, 0.0806, -0.2256, -4.7932, 5.8462, 1.0379, 0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3847, 1.5295, 0.6323, -0.046, -0.223, -0.3386, 0.0285, 0.0151, 1.359, 1.4567, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.0923 left_z=0.0257 left_yaw=-0.0057 left_pitch=-0.3418 left_roll=-0.0227 left_gripper=0.0285 right_x=0.3003 right_y=0.0005 right_z=0.2275 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -4.9026, 6.3795, 0.735, -0.2906, 0.2711, 1.37, -0.0615, -4.7248, 5.9692, 0.9939, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac63e24c06ffc011c80a17a123a75a74cd361be560743abd11ce0f7a4e8b6d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6495969d7714cf428c9a3c016018cff3805a780d40cc1c603a0bd8bb35772af1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da5704a0a27e558182cd34f367578eee0bb27954f639c6e002dbdb75e878716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQQKjgEIEhgCKkBVp8zfV2AYJx6B4+O5c8sx6Uf/MWy/Wwzk+FsZBxHjKaAOyfjjP1ibUFVLrCwolJS3gFt7ANPCGJoz0zvOUaJGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZfSy9UGEgxGQWtkVvG4Mc7P51waDIPDhmvxGDZOj7pMMyIw91G/AeisC6RCEaMEBrrjLYLzlDZ8ibbloyp+ZAFyQnhRkI8z7uAtBCkuqCbfhur2Kq8Cz+8tgnblDz8SUg9ax66zIY8H+q8ov02nyAL+L9vBtl+NeZ97UX0VtEIGsm5ZG20w9R0yZQc/9cRfkYH3jqucBY7APJQdGQrcnzLbBgqK82PkUd/MRbF1cHTrSgX+p133Beqb+kDIrO0mA1zN6b6jWbcSTuXo5LPcroxgVwRFu+MwpDzsSmaUpyfhCW2/5pYxluhBZQ+jii7G6RKSqpPB9Z93wYTLYYcZGfkxB8H8mGH2G9CX75ldZGUusE+BKJA73/LHIavKYUiTxuXD7852CAB5SZ4gtAf4qro/LcYTg+4mWFytcjj2C24A+da/c45n4tA6L5Z35M5hUCU45Okw2XEvFPBaADSVWo9pbegWTG5Sepihcv5KRpO+tZNqzC1mNjT9TAUhdKNCotrVewbYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C7kg1UiuYhvZEmY2zq9UZd",
      "input": {
        "note": "Gripper settled at 0.029, ambiguous; lifting 10 cm to see in the overhead view whether the white bowl came along.",
        "targets": {
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01C7kg1UiuYhvZEmY2zq9UZd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.3693, 0.8814, -0.4702, -0.2218, -0.3416, 0.0395, 0.0151, 1.359, 1.4563, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3414 left_y=-0.0923 left_z=0.1106 left_yaw=-0.0025 left_pitch=-0.356 left_roll=-0.0198 left_gripper=0.0395 right_x=0.3003 right_y=0.0005 right_z=0.2274 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -6.9949, 9.265, 1.3602, -0.1636, -0.0366, 1.033, -0.0615, -4.8889, 5.7641, 1.0672, -0.0122, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bee9df26d0469d71280edbf8da3c2e0dfb37196e4b567ec30e2347bc24b8535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eab1d9140f5146708e49bf67def7c3b9ac3ac04385f88b53548a2ef46334671b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5859479b6abfe2dfb8efc2dc38003d2fe0e710e0d2144feaf749d5cdcc635c85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 9.915 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.5364, 0.6376, -0.0772, -0.2398, -0.3153, 0.9955, 0.0151, 1.3586, 1.4574, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3377 left_y=-0.0875 left_z=0.0214 left_yaw=0.0003 left_pitch=-0.3672 left_roll=0.0189 left_gripper=0.9955 right_x=0.3004 right_y=0.0005 right_z=0.2279 right_yaw=0.1026 right_pitch=-0.6009 right_roll=-0.1395 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -6.4205, 6.2974, 1.7949, -0.1392, -0.0269, 0.0806, -0.2256, -4.7932, 5.8462, 1.0379, 0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3847, 1.5295, 0.6323, -0.046, -0.223, -0.3386, 0.0285, 0.0151, 1.359, 1.4567, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.0923 left_z=0.0257 left_yaw=-0.0057 left_pitch=-0.3418 left_roll=-0.0227 left_gripper=0.0285 right_x=0.3003 right_y=0.0005 right_z=0.2275 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -4.9026, 6.3795, 0.735, -0.2906, 0.2711, 1.37, -0.0615, -4.7248, 5.9692, 0.9939, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.3693, 0.8814, -0.4702, -0.2218, -0.3416, 0.0395, 0.0151, 1.359, 1.4563, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3414 left_y=-0.0923 left_z=0.1106 left_yaw=-0.0025 left_pitch=-0.356 left_roll=-0.0198 left_gripper=0.0395 right_x=0.3003 right_y=0.0005 right_z=0.2274 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -6.9949, 9.265, 1.3602, -0.1636, -0.0366, 1.033, -0.0615, -4.8889, 5.7641, 1.0672, -0.0122, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bee9df26d0469d71280edbf8da3c2e0dfb37196e4b567ec30e2347bc24b8535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eab1d9140f5146708e49bf67def7c3b9ac3ac04385f88b53548a2ef46334671b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5859479b6abfe2dfb8efc2dc38003d2fe0e710e0d2144feaf749d5cdcc635c85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XoJJ21FFUbhzMW7aa5eyXg",
      "input": {
        "note": "The white bowl is lifted in the gripper. Carrying it right across the table toward the pink/purple stack (left_y ≈ -0.39) at safe height.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.39,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01XoJJ21FFUbhzMW7aa5eyXg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0092, 2.4001, 2.6656, -1.4315, -0.5072, -0.9371, 0.043, 0.0151, 1.359, 1.4525, -1.261, 0.0433, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3546 left_y=-0.3957 left_z=0.2063 left_yaw=-0.0176 left_pitch=-0.3657 left_roll=-0.0521 left_gripper=0.043 right_x=0.2996 right_y=0.0005 right_z=0.2261 right_yaw=0.1026 right_pitch=-0.607 right_roll=-0.1393 right_gripper=0.9965\nstate[joint_eff]: [-0.6222, -11.5214, 5.9966, 0.1783, -0.442, 0.0269, 1.0281, -0.1299, -4.7111, 6.065, 1.0476, 0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913ef941f36aef1c8720907c777e409cb0439fe045169c82c77433b37db653ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bab100d58c2c98acf205ae5e20b54e9327ceeaa00e89dfb7211f024acea6bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01357820e01ed659169e06d32c26a38b4996bb100839dbdc98a0b471ae85d10b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 13.89 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3847, 1.5295, 0.6323, -0.046, -0.223, -0.3386, 0.0285, 0.0151, 1.359, 1.4567, -1.2606, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.0923 left_z=0.0257 left_yaw=-0.0057 left_pitch=-0.3418 left_roll=-0.0227 left_gripper=0.0285 right_x=0.3003 right_y=0.0005 right_z=0.2275 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -4.9026, 6.3795, 0.735, -0.2906, 0.2711, 1.37, -0.0615, -4.7248, 5.9692, 0.9939, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.3693, 0.8814, -0.4702, -0.2218, -0.3416, 0.0395, 0.0151, 1.359, 1.4563, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3414 left_y=-0.0923 left_z=0.1106 left_yaw=-0.0025 left_pitch=-0.356 left_roll=-0.0198 left_gripper=0.0395 right_x=0.3003 right_y=0.0005 right_z=0.2274 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -6.9949, 9.265, 1.3602, -0.1636, -0.0366, 1.033, -0.0615, -4.8889, 5.7641, 1.0672, -0.0122, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0092, 2.4001, 2.6656, -1.4315, -0.5072, -0.9371, 0.043, 0.0151, 1.359, 1.4525, -1.261, 0.0433, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3546 left_y=-0.3957 left_z=0.2063 left_yaw=-0.0176 left_pitch=-0.3657 left_roll=-0.0521 left_gripper=0.043 right_x=0.2996 right_y=0.0005 right_z=0.2261 right_yaw=0.1026 right_pitch=-0.607 right_roll=-0.1393 right_gripper=0.9965\nstate[joint_eff]: [-0.6222, -11.5214, 5.9966, 0.1783, -0.442, 0.0269, 1.0281, -0.1299, -4.7111, 6.065, 1.0476, 0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913ef941f36aef1c8720907c777e409cb0439fe045169c82c77433b37db653ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bab100d58c2c98acf205ae5e20b54e9327ceeaa00e89dfb7211f024acea6bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01357820e01ed659169e06d32c26a38b4996bb100839dbdc98a0b471ae85d10b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogkKjgEIEhgCKkC1DnYw5nVd1q1Wt683bp6tjT1m3vXlVj2W+SukhURL6lNaWxjpDrMN8i2ALoReN9XoYcjfBSqvQZlPkHPlBEXaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbHSy9UGEgxAw4yLnkBMHhQMax0aDAmLDA1IlNPBvpUj6SIwMWo6LAbf0G88G7xixqUm9HLnPCJCDDHW9hogbhiqqo7haKnZFHX7WkbVkRH3CxziKsAHmjGjfDnpgk1Ptzs55vaB/8D8mFgfs5IJW5YT8GjU2bVlYPQc20RFrbIQ2SNY3I8+FH3Gx7G7z7m0ZCD4XZl0ec/CV5Yx6R8WIvvYYNxGCAglwZIotJlb6wZF9JSTGvJD90dKEITLpLyjhBKDVGkJ9o0Mer6FsRPlCb6JmQNA1AZbTd7bDa3wvniVIf3PJI0TenWkcpCLv2s+P4k+9tfHxBGeSh8yKmWTavRh+j7zCd9b/Be2EOw39y49X+tYcrpUF1J2mQa0qRhOfEZaqtDe9Nzgl+GWHzZSn78myW8fyCVwnHfG/n163rXlfDl5DVtmKcVqrw4tDvpGYoCQCT+8GvQyy0bM7FMosZw8MOW8r83X1u2BjZH6ubGy6AMJquJEe6IK4aOy77tmhgYykuxTXpVy2exp+Mu0p1AQa1K0F84lcvmoUEv6N0U8jPQkeJqUPVWF7C2qsbf8B0Avem9iGmn/pcvVSnZBe+zPI9eIvRPnKuQR7SMI5S9AhjR6tCuAg22qk1sQdjU/OqhoePFANfv7WSFMWxPSezAcx+KRu3Y2fsCdD6MPSSzjZguPCsE8yZSrkGD6p/l5pZH6lVxUjv3R+rAZyvuUB1rIoQwkUPI13KwueOU/wHjlw6ISHMupj8y1QtHbGsvxE8NqBHniHMweZL76SWKsCqoh2C93Z3PL+3KrCufwBgkg31bFpbn+4Ps7aHQ5Wn6cJgdQ9LOH4YMewj/uYNUU/VATKUH+hvXqyjASvOiAawRyGiH9p6qI4I+wC2wQfg8mLv7nBxxZB4cF/XEAgUft6N14DQCeXP3+8pv31YlDvPllRc3yebqlj7KNRTWkPPIZ3gXnu7S8sODMBgclvHDAmjCZpLLqqMqorkHNTVkyppsu+2QEDlzJ567vfEGYtiBFqllpRNznWIGB5/cgzcl8mp9NUQ05hAAapuX/mjFATaB1CIE6vJtiGdvYJdj8H+hcte3xftVJ/a7nEbYwOZApNoQou8w8DZ2gQxJqSQdgqkRFTcbMqHerJZzuT6IBnhrmhbqt5EyRCY9B9mW1QWSdLdz4/OZD8n8Lbt950YqqBzs0Zq0p1a277k3P+gEr1IhTLRYyASflqF0riu7pJaQoHGREg7ugOWLg+fdu6B8AHhm/STaCuWhAehSg6ioOoXUbqNwdzJf99u2e1cvGyNS5+oc+aBaPCJqYBY8ATr1DgDPqd1fhVRcT83Ez0Qa0ZMn65BGJ7itaE+fT7E0mwlaVYiDL6+ODPj8NaIJdCL93OyG0r1pTru+nGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQA6UN43scZdVojdDQv6Vt",
      "input": {
        "note": "The wrist view shows the pink stack to the arm's left of the carried white bowl and slightly farther out; shifting 8 cm back left and 5 cm out to hover the white bowl over the stack.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.31,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JQA6UN43scZdVojdDQv6Vt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8261, 2.1143, 2.0724, -1.1252, -0.4274, -0.7753, 0.0431, 0.0147, 1.359, 1.4433, -1.2594, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3916 left_y=-0.3115 left_z=0.1755 left_yaw=0.0217 left_pitch=-0.4235 left_roll=0.0009 left_gripper=0.0431 right_x=0.2986 right_y=0.0004 right_z=0.2231 right_yaw=0.1031 right_pitch=-0.6146 right_roll=-0.138 right_gripper=0.9965\nstate[joint_eff]: [0.6769, -14.8444, 6.5026, 1.3846, -0.3248, 0.0904, 1.0232, -0.0889, -5.1214, 6.2154, 1.072, -0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1d3d590bc011b5cdfa556a01ad49dc676571673c2e07a31e5dc10b8cffbab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0370ef76507eb167d575b92a7bbaa8b7d174b7bc3511ed42cc6c7c988d7f5be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7adf9f12185abcc77feb9d8bc81a6e32ef3feb0bbc2e4428009111b0053dedda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 37 attempt 0 · /messages · status 200 · 5.331 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3843, 1.3693, 0.8814, -0.4702, -0.2218, -0.3416, 0.0395, 0.0151, 1.359, 1.4563, -1.2602, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3414 left_y=-0.0923 left_z=0.1106 left_yaw=-0.0025 left_pitch=-0.356 left_roll=-0.0198 left_gripper=0.0395 right_x=0.3003 right_y=0.0005 right_z=0.2274 right_yaw=0.1027 right_pitch=-0.6024 right_roll=-0.1394 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -6.9949, 9.265, 1.3602, -0.1636, -0.0366, 1.033, -0.0615, -4.8889, 5.7641, 1.0672, -0.0122, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0092, 2.4001, 2.6656, -1.4315, -0.5072, -0.9371, 0.043, 0.0151, 1.359, 1.4525, -1.261, 0.0433, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3546 left_y=-0.3957 left_z=0.2063 left_yaw=-0.0176 left_pitch=-0.3657 left_roll=-0.0521 left_gripper=0.043 right_x=0.2996 right_y=0.0005 right_z=0.2261 right_yaw=0.1026 right_pitch=-0.607 right_roll=-0.1393 right_gripper=0.9965\nstate[joint_eff]: [-0.6222, -11.5214, 5.9966, 0.1783, -0.442, 0.0269, 1.0281, -0.1299, -4.7111, 6.065, 1.0476, 0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8261, 2.1143, 2.0724, -1.1252, -0.4274, -0.7753, 0.0431, 0.0147, 1.359, 1.4433, -1.2594, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3916 left_y=-0.3115 left_z=0.1755 left_yaw=0.0217 left_pitch=-0.4235 left_roll=0.0009 left_gripper=0.0431 right_x=0.2986 right_y=0.0004 right_z=0.2231 right_yaw=0.1031 right_pitch=-0.6146 right_roll=-0.138 right_gripper=0.9965\nstate[joint_eff]: [0.6769, -14.8444, 6.5026, 1.3846, -0.3248, 0.0904, 1.0232, -0.0889, -5.1214, 6.2154, 1.072, -0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1d3d590bc011b5cdfa556a01ad49dc676571673c2e07a31e5dc10b8cffbab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0370ef76507eb167d575b92a7bbaa8b7d174b7bc3511ed42cc6c7c988d7f5be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7adf9f12185abcc77feb9d8bc81a6e32ef3feb0bbc2e4428009111b0053dedda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016azku7cL2AUmZcT5MDCBGv",
      "input": {
        "note": "The pink stack sits about 10 cm to the arm's left of the carried white bowl's centre; shifting left and down so the white bowl hangs just above the stack.",
        "targets": {
          "left_y": -0.21,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016azku7cL2AUmZcT5MDCBGv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6495, 1.8473, 1.4685, -0.7891, -0.3553, -0.6224, 0.0469, 0.0151, 1.3579, 1.4246, -1.2533, 0.0429, -0.2218, 0.9965]\nstate[eef_state]: left_x=0.3852 left_y=-0.2108 left_z=0.1144 left_yaw=0.0562 left_pitch=-0.4732 left_roll=0.0384 left_gripper=0.0469 right_x=0.297 right_y=0.0005 right_z=0.2178 right_yaw=0.1044 right_pitch=-0.626 right_roll=-0.137 right_gripper=0.9965\nstate[joint_eff]: [0.4855, -12.3419, 7.0085, 1.2723, -0.2125, 0.1636, 0.6764, -0.2393, -5.6821, 6.2017, 1.0623, -0.0073, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a483a8d9a65867e231f08108093ebacf82cf14e6ee4808fef5766cc3ebfae837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac9ab1e557e9b73d92666de6708efcca850be54be343dffa442413d725df4adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2bc633da31a3df246809be0c0951bd4eeaaefc2e78a6592dace85095cde9dc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 14.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0092, 2.4001, 2.6656, -1.4315, -0.5072, -0.9371, 0.043, 0.0151, 1.359, 1.4525, -1.261, 0.0433, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3546 left_y=-0.3957 left_z=0.2063 left_yaw=-0.0176 left_pitch=-0.3657 left_roll=-0.0521 left_gripper=0.043 right_x=0.2996 right_y=0.0005 right_z=0.2261 right_yaw=0.1026 right_pitch=-0.607 right_roll=-0.1393 right_gripper=0.9965\nstate[joint_eff]: [-0.6222, -11.5214, 5.9966, 0.1783, -0.442, 0.0269, 1.0281, -0.1299, -4.7111, 6.065, 1.0476, 0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8261, 2.1143, 2.0724, -1.1252, -0.4274, -0.7753, 0.0431, 0.0147, 1.359, 1.4433, -1.2594, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3916 left_y=-0.3115 left_z=0.1755 left_yaw=0.0217 left_pitch=-0.4235 left_roll=0.0009 left_gripper=0.0431 right_x=0.2986 right_y=0.0004 right_z=0.2231 right_yaw=0.1031 right_pitch=-0.6146 right_roll=-0.138 right_gripper=0.9965\nstate[joint_eff]: [0.6769, -14.8444, 6.5026, 1.3846, -0.3248, 0.0904, 1.0232, -0.0889, -5.1214, 6.2154, 1.072, -0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6495, 1.8473, 1.4685, -0.7891, -0.3553, -0.6224, 0.0469, 0.0151, 1.3579, 1.4246, -1.2533, 0.0429, -0.2218, 0.9965]\nstate[eef_state]: left_x=0.3852 left_y=-0.2108 left_z=0.1144 left_yaw=0.0562 left_pitch=-0.4732 left_roll=0.0384 left_gripper=0.0469 right_x=0.297 right_y=0.0005 right_z=0.2178 right_yaw=0.1044 right_pitch=-0.626 right_roll=-0.137 right_gripper=0.9965\nstate[joint_eff]: [0.4855, -12.3419, 7.0085, 1.2723, -0.2125, 0.1636, 0.6764, -0.2393, -5.6821, 6.2017, 1.0623, -0.0073, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a483a8d9a65867e231f08108093ebacf82cf14e6ee4808fef5766cc3ebfae837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac9ab1e557e9b73d92666de6708efcca850be54be343dffa442413d725df4adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bc633da31a3df246809be0c0951bd4eeaaefc2e78a6592dace85095cde9dc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISzQMKjgEIEhgCKkBLNiLFKVPbNp9yKyJd04r8eM8V5WiFn1JMbrdTRaWib5bLIV5Lt5/8mUqFDhRZ+P0OpFkhkvF/wsc1aCBrafPBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcbSy9UGEgx20+CdP9VivgFmmkgaDIWeNiz/k7xxiBoAZSIwkP5xdG+gbznFhmPjiyocXLJGdB2rpWRARc/THxD3BdfEBVq1y7NwfAUGeDhI2AYZKusBjjC7fEyuau+LO+Wz4M+O9G+RcoUMU2gPQYJXbIQtYFGkkkKWsxF8Et7lU1tEonrbN4lhQAbi6BABycUvt+8yenbivrhGFX6nk+dRY4Gr3S61FPrbO2RFvTPszhVB8IF5Nm7lzPVW+wZyc3TcFzsrMIyLJ1vAzb85Nm/RTb+2XsdnQkih1mYp8qg+4BIi7uzAFgGF3Z65vflt9H/042i1x3Aj+sPGOwJ1KhxkO5z2RPuOFlXnuf7/zqDCvfWzsbCYQt+rEnDRK9xb3pTtg5EYEM/7nAgNFw31weKjY1ETfKy/tutt6p2WSXDN/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JCkYLoWp8gmCVvzZWkQ87M",
      "input": {
        "note": "The white bowl now covers the pink stack in the wrist view, so it is above it; lowering slightly and opening the jaws to release it onto the stack.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JCkYLoWp8gmCVvzZWkQ87M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6491, 1.8439, 1.4319, -0.7509, -0.3443, -0.6285, 0.9948, 0.0147, 1.3502, 1.3945, -1.2415, 0.0429, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.3835 left_y=-0.2116 left_z=0.1063 left_yaw=0.0503 left_pitch=-0.4758 left_roll=0.0226 left_gripper=0.9948 right_x=0.2943 right_y=0.0003 right_z=0.211 right_yaw=0.1045 right_pitch=-0.6366 right_roll=-0.1356 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -8.2256, 5.5863, 1.1648, -0.3297, 0.0366, -0.0513, -0.294, -5.8325, 6.2974, 1.1013, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:261f21dc22194ad68cb4fd6eb0c573b47d8c31914d4a3f82e33830e5c28c8c1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56072dec1b9e7e04fa50e2f39ab944ecdf91874828e65520f248538f489e053a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7283f4045d1077abd09a8443d5abde941771c8d1d89267db823fa0ca9d57495f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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